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

We investigate the graphs formed from the vertices and creases of an origami pattern that can be folded flat along all of its creases. As we show, this is possible for a tree if and only if the internal vertices of the tree all have even…

Limbless creatures can crawl on flat surfaces by deforming their bodies and interacting with asperities on the ground, offering a biological blueprint for designing efficient limbless robots. Inspired by this natural locomotion, we present…

As robots become more widely available outside industrial settings, the need for reliable object grasping and manipulation is increasing. In such environments, robots must be able to grasp and manipulate novel objects in various situations.…

We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…

Manipulation of thin sheets by folding and cutting offers opportunity to engineer structures with novel mechanical properties, and to prescribe complex force-displacement relationships via material elasticity in combination with the…

Graphene kirigami (patterned cuts) can be an effective way to improve some of the graphene mechanical and electronic properties. In this work, we report the first study of the mechanical and ballistic behavior of single and multilayered…

Kirigami, art of paper cutting, enables two-dimensional sheets transforming into unique shapes which are also hard to reshape once with prescribed cutting patterns. Rare kirigami designs manipulate cuts on three-dimensional objects to…

Shape morphing that transforms morphologies in response to stimuli is crucial for future multifunctional systems. While kirigami holds great promise in enhancing shape-morphing, existing designs primarily focus on kinematics and overlook…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

Capillary origami is the wrapping of an usual fluid drop by a planar elastic membrane due to the interplay between capillary and elastic forces. Here, we use a drop of magnetic fluid whose shape is known to strongly depend on an applied…

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…

We introduce an additive approach for the design of a class of transformable structures based on two-bar linkages ("scissor mechanisms") joined at vertices to form a two dimensional lattice. Our discussion traces an underlying mathematical…

The innumerable shapes of plant leaves present a challenge to the explanatory power of biophysical theory. A model is needed that can produce these shapes with a small set of parameters. This paper presents a simple model of leaf shape…

Origami as a deployable structure offers the unique advantage of achieving compact stowage via flat-folding while forming a well-defined surface composed of rigid panels upon deployment. However, since origami consists of flat facets, it is…

We explore the surprisingly rich energy landscape of origami-like folding planar structures. We show that the configuration space of rigid-paneled degree-4 vertices, the simplest building blocks of such systems, consists of at least two…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…

Kirigami involves cutting a flat, thin sheet that allows it to morph from a closed, compact configuration into an open deployed structure via coordinated rotations of the internal tiles. By recognizing and generalizing the geometric…

Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…

Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…