相关论文: Developing a Mono-Actuated Compliant GeoGami Robot
Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design…
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…
Electro-thermally actuated origami provides a novel method for creating 3-D systems with advanced morphing and functional capabilities. However, it is currently difficult to simulate the multi-physical behavior of such systems because the…
We study the problem of teaching humanoid robots manipulation skills by imitating from single video demonstrations. We introduce OKAMI, a method that generates a manipulation plan from a single RGB-D video and derives a policy for…
This study proposes and examines a novel approach to generate peristaltic-like locomotion in a segmented origami robot. Specifically, we demonstrate the use of multi-stability embedded in origami skeleton to eliminate the need for multiple…
This paper presents a soft earthworm robot that is capable of both efficient locomotion and obstacle avoidance. The robot is designed to replicate the unique locomotion mechanisms of earthworms, which enable them to move through narrow and…
We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial…
Shape-morphing finds widespread utility, from the deployment of small stents and large solar sails to actuation and propulsion in soft robotics. Origami structures provide a template for shape-morphing, but rules for designing and folding…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
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…
Kirigami, the traditional paper-cutting craft, holds immense potential for revolutionizing robotics by providing multifunctional, lightweight, and adaptable solutions. Kirigami structures, characterized by their bending-dominated…
Many organisms, including various species of spiders and caterpillars, change their shape to switch gaits and adapt to different environments. Recent technological advances, ranging from stretchable circuits to highly deformable soft…
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…
Soft robotics has emerged as a promising technology that holds great potential for various application areas. This is due to soft materials unique properties, including flexibility, safety, and shock absorption, among others. Despite many…
Origami offers a versatile framework for designing morphable structures and soft robots by exploiting the geometry of folds. Tubular origami structures can act as continuum manipulators that balance flexibility and strength. However,…
We present a rolling and jumping underactuated monopedal robot designed to explore multimodal locomotion on low-gravity bodies. It uses only two reaction wheels to control its spatial orientation with two controllers: a balancing controller…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
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…
The ancient art of origami, traditionally used to transform simple sheets into intricate objects, also holds potential for diverse engineering applications, such as shape morphing and robotics. In this study, we demonstrate that one of the…
This study explores the use of origami composite structures as active aerodynamic control surfaces. Towards this goal, two origami concepts were designed leveraging a combination of analytical and finite element modeling, and computational…