相关论文: Proprioceptive Origami Manipulator
Nematic elastomers dramatically change their shape in response to diverse stimuli including light and heat. In this paper, we provide a systematic framework for the design of complex three dimensional shapes through the actuation of…
In-hand object manipulation is a fundamental yet challenging capability for dexterous robots. Despite significant progress in dexterous manipulation, existing approaches rely heavily on vision or tactile sensing to track object states,…
Traditional origami starts from flat surfaces, leading to crease patterns consisting of Euclidean vertices. However, Euclidean vertices are limited in their folding motions, are degenerate, and suffer from misfolding. Here we show how…
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…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
We develop a theoretical framework for rigid origami, and show how this framework can be used to connect rigid origami and results from cognate areas, such as the rigidity theory, graph theory, linkage folding and computer science. First,…
Miura-Ori, a celebrated origami pattern that facilitates functionality in matter, has found multiple applications in the field of mechanical metamaterials. Modifications of Miura-Ori pattern can produce curved configurations during folding,…
Current architectured cellular cushion materials rely mainly on damage and/or unpredictable collapse of their unit cells to absorb and dissipate energy under impact. This prevents shape recovery and produces undesirable force fluctuations…
One-dimensional slender bodies can be deformed or shaped into spatially complex curves relatively easily due to their inherent compliance. However, traditional methods of fabricating complex spatial shapes are cumbersome, prone to error…
We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…
Despite advances in localization and navigation, aerial robots inevitably remain susceptible to accidents and collisions. In this work, we propose a passive foldable airframe as a protective mechanism for a small aerial robot. A foldable…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…
Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity,…
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…
Capillary origami is the wrapping of an usual fluid drop by a planar elastic membrane due to the interplay between capillary and elastic forces. Here, we use a drop of magnetic fluid whose shape is known to strongly depend on an applied…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-driven mechanism consisting of spiral-based metabeams was…
Origami-based mechanical metamaterials have recently received significant scientific interest due to their versatile and reconfigurable architectures. However, it is often challenging to account for all possible geometrical configurations…
Origami-based structures play an important role in the realization of deployable mechanisms and unique mechanical properties via programmable deformation by folding. Among origami-based structures, tessellation by the coupling of origami…