相关论文: Hyper Yoshimura: How a slight tweak on a classical…
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…
Origami, the traditional paper-folding art, has inspired the modern design of numerous flexible structures in science and engineering. In particular, origami structures with different physical properties have been studied and utilized for…
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
Shape-morphing structures have the capability to transform from one state to another, making them highly valuable in engineering applications. In this study, it is propose a two-stage shape-morphing framework inspired by kirigami structures…
The design of physical compliance -- its location, degree, and structure -- affects robot performance and robustness in contact-rich tasks. While compliance is often used in the robot's joints, flange, or end-effector, this paper proposes…
Shape-morphing structures, which are able to change their shapes from one state to another, are important in a wide range of engineering applications. A popular scenario is morphing from an initial two-dimensional (2D) shape that is flat to…
Origami is the archetype of a structural material with unusual mechanical properties that arise almost exclusively from the geometry of its constituent folds and forms the basis for mechanical metamaterials with an extreme deformation…
Non-Euclidean surfaces are ubiquitous in numerous engineering fields, such as automotive, aerospace, and biomedical engineering domains. Morphing origami has numerous potential engineering applications, including soft robots, mechanical…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Deployable polyhedrons can transform between Platonic and Archimedean polyhedrons to meet the demands of various engineering applications. However, the existing design solutions are often with multiple degrees of freedom and complicated…
Periodic origami patterns made with repeating unit cells of creases and panels bend and twist in complex ways. In principle, such soft modes of deformation admit a simplified asymptotic description in the limit of a large number of cells.…
Kirigami metamaterials dramatically change their shape through a coordinated motion of nearly rigid panels and flexible slits. Here, we study a model system for mechanism-based planar kirigami featuring periodic patterns of quadrilateral…
The three-dimensional bin packing problem (3D-BPP) is widely applied in logistics and warehousing. Existing learning-based approaches often neglect practical stability-related constraints and exhibit limitations in generalizing across…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
Due to its rigid foldability and predictable kinematics, the reverse fold is the fundamental mechanism behind some of the most well known origami kinematic structures, including the Miura Ori, Yoshimura, and waterbomb patterns. However, the…
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…
Multi-step pathways, constituted of a sequence of reconfigurations, are central to a wide variety of natural and man-made systems. Such pathways autonomously execute in self-guided processes such as protein folding and self-assembly, but…
Given the rapidly growing scale and resource requirements of machine learning applications, the idea of building more efficient learning machines much closer to the laws of physics is an attractive proposition. One central question for…
This paper presents a novel learning-based control framework that uses keyframing to incorporate high-level objectives in natural locomotion for legged robots. These high-level objectives are specified as a variable number of partial or…