相关论文: Rapid Multi-Physics Simulation for Electro-Thermal…
An efficient way to introduce elastic energy that can bias an origami structure toward desired shapes is to allow curved tiles between the creases. The bending of the tiles supplies the energy and the tiles themselves may have additional…
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 present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, an element-agnostic constitutive…
Origami, the traditional paper-folding art, has inspired the modern design of numerous flexible structures in science and engineering. In particular, origami structures with different physical properties have been studied and utilized for…
Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible 2D sheets or even strings,…
We present an efficient spacetime optimization method to automatically generate animations for a general volumetric, elastically deformable body. Our approach can model the interactions between the body and the environment and automatically…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Self-folding origami, structures that are engineered flat to fold into targeted, three-dimensional shapes, have many potential engineering applications. Though significant effort in recent years has been devoted to designing fold patterns…
Curve-fold origami, composed of developable panels joined along a curved crease, exhibits rich dynamic behaviors relevant to metamaterials and soft robotic systems. Despite multiple approximated models, a comprehensive and exact dynamical…
Twisting sheets as a strategy to form functional yarns relies on millennia of human practice in making catguts and fabric wearables, but still lacks overarching principles to guide their intricate architectures. We show that twisted…
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…
Origami metamaterial design enables drastic qualitative changes in the response properties of a thin sheet via the addition of a repeating pattern of folds based around a rigid folding motion. Known also as a mechanism, this folding motion…
Complex systems are often decomposed into modular subsystems for engineering tractability. Although various equation based white-box modeling techniques make use of such structure, learning based methods have yet to incorporate these ideas…
This study proposes a reconfigurable modular building system that assembles multistable curved-crease origami blocks. Curved-crease origami is designed with even-vertex polygonal trajectories and an elastica curvature profile. We then…
Accurately capturing and simulating multiscale systems is a formidable challenge, as both spatial and temporal scales can span many orders of magnitude. Rigorous upscaling methods not only ensure efficient computation, but also maintains…
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…
Soft electrothermal actuators are of great interest in diverse application domains for their simplicity, compliance, and ease of control. However, the very nature of thermally induced mechanical actuation sets inherent operation…
The design of effective and compact energy absorption systems is key to the survivability and durability of many man-made structures and machines. To this end, this work presents the design, assessment, and implementation of a novel…
Folding paper along curves leads to spatial structures that have curved surfaces meeting at spatial creases, defined as curve-fold origami. In this work, we provide an Eulerian framework focusing on the mechanics of arbitrary curve-fold…
We present a mathematical model of polymer bilayers that undergo large bending deformations when actuated by non-mechanical stimuli such as thermal effects. The simple model captures a large class of nonlinear bending effects and can be…