相关论文: Lagrangian approach to origami vertex analysis: Ki…
Deployable structures inspired by origami have provided lightweight, compact, and reconfigurable solutions for various robotic and architectural applications. However, creating an integrated structural system that can effectively balance…
The paper outlines novel variational technique for finding microstructures of optimal multimaterial composites, bounds of composites properties, and multimaterial optimal designs. The translation method that is used for the exact…
First-order methods (FOMs) have been widely used for solving large-scale problems. A majority of existing works focus on problems without constraint or with simple constraints. Several recent works have studied FOMs for problems with…
In this paper, we present a stochastic augmented Lagrangian approach on (possibly infinite-dimensional) Riemannian manifolds to solve stochastic optimization problems with a finite number of deterministic constraints.We investigate the…
Following on Part I of this work series on local kirigami mechanics, we present a study of a discretely creased mechanism as a model to investigate the mechanics of the basic geometric building block of kirigami--the e-cone. We consider an…
The geometry of bending-active kirigami arches, decorated by cuts and holes, is strongly influenced by the location and geometry of the perforations. This study demonstrates that, in some instances, the geometric stiffening induced by…
The recent development of modular origami structures has ushered in a new era for active metamaterials with multiple degrees of freedom (multi-DOF). Notably, no systematic inverse design approach for volumetric modular origami structures…
In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motion and a subset of the contact forces of a floating-base…
Kirigami, the art of paper cutting, has become a paradigm for mechanical metamaterials in recent years. The basic building blocks of any kirigami structures are repetitive deployable patterns that derive inspiration from geometric art forms…
We develop an approach to affine symplectic invariant geometry of Lagrangian surfaces by the method of moving frames. The fundamental invariants of elliptic Lagrangian immersions in affine symplectic four-space are derived together with…
This paper focuses on packaging design using origami techniques, specifically designs incorporating curves, known as pillow boxes. While conventional paper packaging boxes are typically cuboid, pillow box designs include curved surfaces,…
Flow matching trains a neural velocity field by regression against a target velocity associated with a prescribed probability path connecting a simple initial distribution to the data distribution. A central design choice is the path…
A foundational result in origami mathematics is Kawasaki and Justin's simple, efficient characterization of flat foldability for unassigned single-vertex crease patterns (where each crease can fold mountain or valley) on flat material. This…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
This paper provides a theoretical and numerical investigation of a penalty decomposition scheme for the solution of optimization problems with geometric constraints. In particular, we consider some situations where parts of the constraints…
The Uzawa method is a method for solving constrained optimization problems, and is often used in computational contact mechanics. The simplicity of this method is an advantage, but its convergence is slow. This paper presents an accelerated…
Open effective field theories provide a systematic framework for describing physical systems interacting with an environment whose microscopic details are unknown, unobservable, or uncalculable. A basic step in constructing any effective…
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid…