相关论文: Lagrangian approach to origami vertex analysis: Ki…
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,…
This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…
The study of origami-based mechanical metamaterials usually focuses on the kinematics of deployable structures made of an assembly of rigid flat plates connected by hinges. When the elastic response of each panel is taken into account,…
Origami offers a promising alternative for designing innovative soft robotic actuators. While features of origami, such as bi-directional motion and structural anisotropy, haven't been extensively explored in the past, this letter presents…
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization…
Orthogonality constraints naturally appear in many machine learning problems, from principal component analysis to robust neural network training. They are usually solved using Riemannian optimization algorithms, which minimize the…
Existing Civil Engineering structures have limited capability to adapt their configurations for new functions, non-stationary environments, or future reuse. Although origami principles provide capabilities of dense packaging and…
The principles of origami design have proven useful in a number of technological applications. Origami tessellations in particular constitute a class of morphing metamaterials with unusual geometric and elastic properties. Although…
We describe geometrically contact Lagrangian systems under impulsive forces and constraints, as well as instantaneous nonholonomic constraints which are not uniform along the configuration space. In both situations, the vector field…
A surface is considered flexible if it allows a continuous deformation that preserves both metric and smoothness. We introduce a novel construction method, called 'base + crinkle,' for generating a broad class of non-self-intersecting…
Lagrangian particle formulations of the large deformation diffeomorphic metric mapping algorithm (LDDMM) only allow for the study of a single shape. In this paper, we introduce and discuss both a theoretical and practical setting for the…
In this paper, we investigate the reduction process of a contact Lagrangian system whose Lagrangian is invariant under a group of symmetries. We give explicit coordinate expressions of the resulting reduced differential equations, the…
The aim of the present text is twofold: to provide a compendium of Lagrangian and Hamiltonian geometries and to introduce and investigate new analytical Mechanics: Finslerian, Lagrangian and Hamiltonian. The fundamental equations (or…
Over the past decade, kirigami--the Japanese art of paper cutting--has been playing an increasing role in the emerging field of mechanical metamaterials and a myriad of other mechanical applications. Nonetheless, a deep understanding of the…
Traditional origami structures can be continuously deformed back to a flat sheet of paper, while traditional kirigami requires glue or seams in order to maintain its rigidity. In the former, non-trivial geometry can be created through…
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…
The art and science of folding intricate three-dimensional structures out of paper has occupied artists, designers, engineers, and mathematicians for decades, culminating in the design of deployable structures and mechanical metamaterials.…
Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
In this paper we present a new ultra efficient numerical method for solving kinetic equations. In this preliminary work, we present the scheme in the case of the BGK relaxation operator. The scheme, being based on a splitting technique…