相关论文: Hyper Yoshimura: How a slight tweak on a classical…
We propose an algorithmic framework of a pluripotent structure evolving from a simple compact structure into diverse complex 3-D structures for designing the shape transformable, reconfigurable, and deployable structures and robots. Our…
Rotational erection system (RES) represents an origami-based design method for generating a three-dimensional (3D) structure from a planar sheet without compression. Its rotational and translational kinematics is fully encoded in a form of…
Origami structures are characterized by a network of folds and vertices joining unbendable plates. For applications to mechanical design and self-folding structures, it is essential to understand the interplay between the set of folds in…
Origami describes rules for creating folded structures from patterns on a flat sheet, but does not prescribe how patterns can be designed to fit target shapes. Here, starting from the simplest periodic origami pattern that yields one…
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…
The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture…
In recent years, the concept of kirigami has been used in creating deployable structures for various scientific and technological applications. While high-fidelity Finite Element Analysis (FEA) is the standard for analyzing stress…
Rigid origami, with applications ranging from nano-robots to unfolding solar sails in space, describes when a material is folded along straight crease line segments while keeping the regions between the creases planar. Prior work has found…
Propagating transition fronts, in which local interactions sequentially trigger state changes, are widely observed across natural, biological, and engineered systems. While such propagation has been engineered using energy-driven…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible 2D sheets or even strings,…
Kirigami, the art of paper cutting, has been widely used in the modern design of mechanical metamaterials. In recent years, many kirigami-based metamaterials have been designed based on different planar tiling patterns and applied to…
Previous mechanical meta-structures used for mechanical memory storage, computing and information processing are severely constrained by low information density and/or non-robust structural stiffness to stably protect the maintained…
We consider several quadrilateral origami tilings, including the Miura-ori crease pattern, allowing for crease-reversal defects above the ground state which maintain local flat-foldability. Using exactly solvable models, we show that these…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
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…
Advances in engineering mesoscopic quantum devices have led to new material platforms where electronic transport can be achieved on foldable structures. In this respect, we study quantum phases and their transitions on a Kirigami structure,…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
We leverage the snap-through response of a bistable origami mechanism to induce a discontinuous evolution of drag with flow speed. The transition between equilibrium states is passively actuated by airflow, and we demonstrate that large…
Motion planning methods like navigation functions and harmonic potential fields provide (almost) global convergence and are suitable for obstacle avoidance in dynamically changing environments due to their reactive nature. A common…