相关论文: Dynamic Behavior of Origami Structures: Computatio…
Origami metamaterials are known to display highly tunable Poisson's ratio values depending on their folded state. Most studies on the Poisson effects in deployable origami tessellations are restricted to theory and simulation. Experimental…
Recently there have been extensive theoretical, numerical and experimental works on curved-fold origami. However, we notice that a unified and complete geometric framework for describing the geometry and mechanics of curved-fold origami,…
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…
Thin surfaces are ubiquitous in nature, from leaves to cell membranes, and in technology, from paper to corrugated containers. Structural thinness imbues them with flexibility, the ability to easily bend under light loads, even as their…
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…
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…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Since the discovery of topological modes in idealized ball-and-spring kagome lattices, significant efforts have been devoted to realizing mechanical analogues of these ideal lattices via practical fabrication techniques. While numerical and…
Ensuring adequate ventilation of exterior and interior urban spaces is essential for the safety and comfort of inhabitants. Here, we examine how angled features can steer wind into areas with stagnant air, promoting natural ventilation.…
Quantum dynamics on quasiperiodic geometries has recently gathered significant attention in ultra-cold atom experiments where non trivial localised phases have been observed. One such quasiperiodic model is the so called Fibonacci model. In…
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…
While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between…
The complex behavior of many natural and engineered systems emerges from the interaction of a small number of effective degrees of freedom. Discovering the physical basis of the interactions between these degrees of freedom directly from…
Semi-active vibration reduction techniques are defined as techniques in which controlled actions do not operate directly on the system's degrees of freedom (as in the case of active vibration control) but on the system's parameters, i.e.,…
Programmable folding of elastic sheets typically relies on predefined flexible creases or active materials-enabled hinges, which lack intrinsic bistability and limit reprogrammability within a single structure. Here, we present a…
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…
Slow dynamics in disordered materials prohibits direct simulation of their rich nonequilibrium behavior at large scales. "Patchwork dynamics" is introduced to mimic relaxation over a very broad range of time scales by equilibrating or…
Origami structures have been proposed as a means of creating three-dimensional structures from the micro- to the macroscale, and as a means of fabricating mechanical metamaterials. The design of such structures requires a deep understanding…
Elastic wave propagation provides a noninvasive way to probe granular materials. The discrete element method using particle configuration as input, allows a micromechanical interpretation on the acoustic response of a given granular system.…
The dramatic effect kirigami, such as hole cutting, has on the elastic properties of thin sheets invites a study of the mechanics of thin elastic frames under an external load. Such frames can be thought of as modular elements needed to…