相关论文: Lagrangian approach to origami vertex analysis: Ki…
Lagrangian-based methods are classical methods for solving convex optimization problems with equality constraints. We present novel prediction-correction frameworks for such methods and their variants, which can achieve $O(1/k)$ non-ergodic…
An origami manifold is a manifold equipped with a closed 2-form which is symplectic except on a hypersurface where it is like the pullback of a symplectic form by a folding map and its kernel fibrates with oriented circle fibers over a…
This paper is devoted to the theoretical and numerical investigation of an augmented Lagrangian method for the solution of optimization problems with geometric constraints. Specifically, we study situations where parts of the constraints…
Soft deployable structures - unlike conventional piecewise rigid deployables based on hinges and springs - can assume intricate 3-D shapes, thereby enabling transformative technologies in soft robotics, shape-morphing architecture, and…
Traditionally, origami has been categorized into two groups according to their kinematics design: rigid and non-rigid origami. However, such categorization can be superficial, and rigid origami can obtain new mechanical properties by…
As the pace of AI technology continues to accelerate, more tools have become available to researchers to solve longstanding problems, Hybrid approaches available today continue to push the computational limits of efficiency and precision.…
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…
Kirigami metamaterial sheets and tubes, owing to their capacity to undergo large elastic deformations while developing three-dimensional surface textures, have enormous potential as skins for soft robots. Here, we propose to use kirigami…
Origami metamaterials typically consist of folded sheets with periodic patterns, conferring them with remarkable mechanical properties. In the context of Continuum Mechanics, the majority of existing predictive methods are mechanism analogs…
By integrating the principles of kirigami cutting and data-driven modeling, this study aims to develop a personalized, rapid, and low-cost design and fabrication pipeline for creating body-conformable surfaces around the knee joint. The…
Simulating physical systems governed by Lagrangian dynamics often entails solving partial differential equations (PDEs) over high-resolution spatial domains, leading to significant computational expense. Reduced-order modeling (ROM)…
Kirigami, the creative art of paper cutting, is a promising paradigm for mechanical metamaterials. However, to make kirigami-inspired structures a reality requires controlling the topology of kirigami to achieve connectivity and rigidity.…
We develop recursion equations to describe the three-dimensional shape of a sheet upon which a series of concentric curved folds have been inscribed. In the case of no stretching outside the fold, the three-dimensional shape of a single…
Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers.…
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…
Origami is the art of paper folding, and it borrows its name from two Japanese words \emph{ori} and \emph{kami}. In Japanese, {ori} means folding, and the paper is called {kami}. While origami is just a hobby to most, there is a lot more to…
Kirigami offers unique opportunities for guided morphing by leveraging the geometry of the cuts. This work presents inflatable kirigami crawlers created by introducing cut patterns into heat-sealable textiles to achieve locomotion upon…
We survey results on the foldability of flat origami models. The main topics are the question of when a given crease pattern can fold flat, the combinatorics of mountain and valley creases, and counting how many ways a given crease pattern…
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…
The Sakai-Sugimoto holographic model is famous for implementing the approximate chiral symmetry of QCD and reproducing the Chiral Lagrangian in a top-down approach. In this manuscript, we revisit the model in a formalism that is somewhat…