相关论文: Proprioceptive Origami Manipulator
Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
The article studies the elastic and locomotive properties of Miura-ori-type paper origami. The mechanics of a single paper crease is studied experimentally, and its non-elastic properties turn out to be crucial. The entire origami…
Rigidly and flat-foldable quadrilateral mesh origami is the class of quadrilateral mesh crease patterns with one fundamental property: the patterns can be folded from flat to fully-folded flat by a continuous one-parameter family of…
Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens,…
Origami principles are used to create strong, lightweight structures with complex mechanical response. However, identifying the fundamental physical principles that determine a sheet's behavior remains a challenge. We introduce a new…
Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of…
Two-dimensional (2D) origami tessellations such as the Miura-ori are often generalized to build three-dimensional (3D) architected materials with sandwich or cellular structures. However, such 3D blocks are densely packed with continuity of…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
Flexible surfaces can modulate fluid forces through deformation, enabling passive adaptation to flow conditions. Here we show that kirigami sheets, planar surfaces patterned with arrays of parallel slits, provide a simple route to tunable…
Precision sensing and manipulation of milligram-scale mechanical oscillators has attracted growing interest in the fields of table-top explorations of gravity and tests of quantum mechanics at macroscopic scales. Torsional oscillators…
Origami has recently emerged as a platform for building functional engineering systems with versatile characteristics that targeted niche applications. One widely utilized origami-based structure is known as the Kresling origami spring…
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately.…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
Tactile-aware robot learning faces critical challenges in data collection and representation due to data scarcity and sparsity, and the absence of force feedback in existing systems. To address these limitations, we introduce a tactile…
UMI-style interfaces enable scalable robot learning, but existing systems remain largely visuomotor, relying primarily on RGB observations and trajectory while providing only limited access to physical interaction signals. This becomes a…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Via numerical simulation and experimental assessment, this study examines the use of origami folding to develop robotic jumping mechanisms with tailored nonlinear stiffness to improve dynamic performance. Specifically, we use Tachi-Miura…
Thin elastic sheets bend easily and, if they are patterned with cuts, can deform in sophisticated ways. Here we show that carefully tuning the location and arrangement of cuts within thin sheets enables the design of mechanical actuators…
Origami as a deployable structure offers the unique advantage of achieving compact stowage via flat-folding while forming a well-defined surface composed of rigid panels upon deployment. However, since origami consists of flat facets, it is…