相关论文: Muscle-inspired flexible mechanical logic architec…
Granular metamaterials are a promising choice for the realization of mechanical computing devices. As preliminary evidence of this, we demonstrate here how to embed Boolean logic gates (AND and XOR) into a granular metamaterial by evolving…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Quadrupedal robots exhibit a wide range of viable gaits, but generating specific footfall sequences often requires laborious expert tuning of numerous variables, such as touch-down and lift-off events and holonomic constraints for each leg.…
Physical systems exhibiting neuromechanical functions promise to enable structures with directly encoded autonomy and intelligence. We report on a class of neuromorphic metamaterials embodying bioinspired mechanosensing, memory, and…
Harnessing the rich nonlinear dynamics of highly-deformable materials has the potential to unlock the next generation of functional smart materials and devices. However, unlocking such potential requires effective strategies to spatially…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
By mixing glass beads with a curable polymer we create a well-defined cohesive granular medium, held together by solidified, and hence elastic, capillary bridges. This material has a geometry similar to a wet packing of beads, but with an…
Architected materials can achieve enhanced properties compared to their plain counterparts. Specific architecting serves as a powerful design lever to achieve targeted behavior without changing the base material. Thus, the connection…
Architecting mechanisms of damage in metamaterials by leveraging lattice topology and geometry poses a vital yet complex challenge, essential for engineering desirable mechanical responses. Of these metamaterials, Maxwell lattices, which…
Biological lifeforms can heal, grow, adapt, and reproduce -- abilities essential for sustained survival and development. In contrast, robots today are primarily monolithic machines with limited ability to self-repair, physically develop, or…
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…
Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…
Soft actuators have drawn significant attention from researchers with an inherently compliant design to address the safety issues in physical human-robot interactions. However, they are also vulnerable and pose new challenges in the design,…
Endowing materials with physical intelligence holds the key for a progress leap in robotic systems. In spite of the growing success for macroscopic devices, transferring these concepts to the microscale presents several challenges connected…
Robotic surfaces traditionally use materials with a positive Poisson's ratio to push and pull on a manipulation interface. Auxetic materials with a negative Poisson's ratio may expand in multiple directions when stretched and enable…
Multimodal Large Language Models (MLLMs) are set to transform how machines process and generate human-like responses by integrating diverse modalities such as text, images, and code. Yet, effectively harnessing their capabilities hinges on…
We propose a simple and practical approach for incorporating the effects of muscle inertia, which has been ignored by previous musculoskeletal simulators in both graphics and biomechanics. We approximate the inertia of the muscle by…