相关论文: MuA-Ori: Multimodal Actuated Origami
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
In this paper, we propose a novel design of a hybrid mobile robot with controllable stiffness and deformable shape. Compared to conventional mobile agents, our system can switch between rigid and compliant phases by solidifying or melting…
Topological mechanical metamaterials have been widely explored for their boundary states, which can be robustly isolated or transported in a controlled manner. However, such systems often require pre-configured design or complex active…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
Origami folded cylinders (origami bellows) have found increasingly sophisticated applications in space flight and medicine. In spite of this interest, a general understanding of the mechanics of an origami folded cylinder has been elusive.…
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…
Traditional character animation specializes in characters with a rigidly articulated skeleton and a bipedal/quadripedal morphology. This assumption simplifies many aspects for designing physically based animations, like locomotion, but…
Recent research efforts have yielded significant advancements in manipulating objects under homogeneous settings where the robot is required to either manipulate rigid or deformable (soft) objects. However, the manipulation under…
Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…
The subject of simulating internal organs is a valuable and important topic of research to multiple fields from medical analysis to education and training. This paper presents a solution that utilizes a graphical technique in combination…
Metamaterials achieve unprecedented properties from designed architected structures. However, they are often constructed from a single repeating building block that exhibits monotonic shape changes with single degree of freedom, thereby…
This paper presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely predicted using geometry-based sensor signals obtained from…
Origami crease patterns are folding paths that transform flat sheets into spatial objects. Origami patterns with a single degree of freedom (DOF) have creases that fold simultaneously. More often, several substeps are required to…
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate…
The Japanese art of turning flat sheets into 3D intricate structures, origami, has inspired design of mechanical metamaterials. Mechanical metamaterials are artificially engineered materials with uncommon properties. Miura-ori is a…
This work introduces Ori-Sense, a compliant capacitive sensor inspired by the inverted Kresling origami pattern. The device translates torsional deformation into measurable capacitance changes, enabling proprioceptive feedback for soft…
Task decomposition is critical for understanding and learning complex long-horizon manipulation tasks. Especially for tasks involving rich physical interactions, relying solely on visual observations and robot proprioceptive information…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
Non-prehensile planar manipulation, including pushing and press-and-slide, is critical for diverse robotic tasks, but notoriously challenging due to hybrid contact mechanics, under-actuation, and asymmetric friction limits that…
Traditional vision-based material perception methods often experience substantial performance degradation under visually impaired conditions, thereby motivating the shift toward non-visual multimodal material perception. Despite this,…