相关论文: Leaf-like Origami with Bistability for Self-Adapti…

Electro-thermally actuated origami provides a novel method for creating 3-D systems with advanced morphing and functional capabilities. However, it is currently difficult to simulate the multi-physical behavior of such systems because the…

In this study, we examine a rapid and reversible origami folding method by exploiting a combination of resonance excitation, asymmetric multi-stability, and active control. The underlying idea is that, by harmonically exciting a…

The article studies the elastic and locomotive properties of Miura-ori-type paper origami. The mechanics of a single paper crease is studied experimentally, and its non-elastic properties turn out to be crucial. The entire origami…

Mechanical metamaterials capable of large deformations are an emerging platform for functional devices and structures across scales. Bistable designs are particularly attractive since they endow a single object with two configurations that…

Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Conventional soft grippers, while compliant, are mostly…

One-dimensional slender bodies can be deformed or shaped into spatially complex curves relatively easily due to their inherent compliance. However, traditional methods of fabricating complex spatial shapes are cumbersome, prone to error…

This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami…

The ancient art of origami, traditionally used to transform simple sheets into intricate objects, also holds potential for diverse engineering applications, such as shape morphing and robotics. In this study, we demonstrate that one of the…

We introduce a novel technique for grabbing water with a flexible solid. This new passive pipetting mechanism was inspired by floating flowers and relies purely on the coupling of the elasticity of thin plates and the hydrodynamic forces at…

Thick origami structures are considered here as assemblies of polygonal panels hinged to each other along their edges according to a corresponding origami crease pattern. The determination of the internal actions caused by external loads in…

Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…

Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments…

The ability to transform a flat sheet into a complex three-dimensional structure is a fundamental test of physical intelligence. Unlike cloth manipulation, origami is governed by strict geometric axioms and hard kinematic constraints, where…

Thin sheets can be assembled into tubular origami structures that combine deployability with pronounced anisotropic stiffness, enabling applications ranging from robotics to deployable systems. However, most existing tubular origami designs…

For centuries, human civilizations devised metal forming techniques to make tools and items; yet, customized metal forming remains costly and intricate. Laser-forming origami} (lasergami) is a metal forming process where a laser beam cuts…

Inspired by the allure of additive fabrication, we pose the problem of origami design from a new perspective: how can we grow a folded surface in three dimensions from a seed so that it is guaranteed to be isometric to the plane? We solve…

We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are…

Lattices and their underlying symmetries play a central role in determining the physical properties and applications of many natural and engineered materials. By bridging the lattice geometry and rigid-folding kinematics, this study…

Why is it difficult to refold a previously folded sheet of paper? We show that even crease patterns with only one designed folding motion inevitably contain an exponential number of `distractor' folding branches accessible from a…

Periodic origami patterns made with repeating unit cells of creases and panels bend and twist in complex ways. In principle, such soft modes of deformation admit a simplified asymptotic description in the limit of a large number of cells.…