相关论文: A Unified Framework for Kinematic Simulation of Ri…
Rigid origami is a branch of origami with great potential in engineering applications to deal with rigid-panel folding. One of the challenges is to compactly fold the polyhedra made from rigid facets with a single degree of freedom. In this…
This paper addresses the task of dense non-rigid structure-from-motion (NRSfM) using multiple images. State-of-the-art methods to this problem are often hurdled by scalability, expensive computations, and noisy measurements. Further, recent…
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…
We introduce probabilistic frames to study finite frames whose elements are chosen at random. While finite tight frames generalize orthonormal bases by allowing redundancy, independent, uniformly distributed points on the sphere…
Recurrent iterated function systems (RIFSs) are improvements of iterated function systems (IFSs) using elements of the theory of Marcovian stochastic processes which can produce more natural looking images. We construct new RIFSs consisting…
We develop some design examples for approximating a target surface at the final rigidly folded state of a developable quadrilateral creased paper, which is folded with a 1-DOF rigid folding motion from the planar state. The final rigidly…
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…
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…
Programmable folding of elastic sheets typically relies on predefined flexible creases or active materials-enabled hinges, which lack intrinsic bistability and limit reprogrammability within a single structure. Here, we present a…
Kirigami is an increasingly useful fabrication method to produce shape-programmable metamaterial structures. However, inverse design remains difficult because deployment is nonlinear, and feasible cut layouts must satisfy discrete…
In this paper, we present RigAnyFace (RAF), a scalable neural auto-rigging framework for facial meshes of diverse topologies, including those with multiple disconnected components. RAF deforms a static neutral facial mesh into…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
We propose a novel computational framework for modeling and simulating origami structures. In this framework, bilinear solid-shell elements are employed to model the origami panels while crease folding is considered through the angle…
A bar framework determined by a finite graph $G$ and configuration $\bf p$ in $d$ space is universally rigid if it is rigid in any ${\mathbb R}^D \supset {\mathbb R}^d$. We provide a characterization of universally rigidity for any graph…
This paper sets a theoretical foundation for the applications of the fractal interpolation functions (FIFs). We construct rational cubic spline FIFs (RCSFIFs) with quadratic denominator involving two shape parameters. The elements of the…
Implicit representations have been widely applied in robotics for obstacle avoidance and path planning. In this paper, we explore the problem of constructing an implicit distance representation from a single image. Past methods for implicit…
Soft robots employing compliant materials and deformable structures offer great potential for wearable devices that are comfortable and safe for human interaction. However, achieving both structural integrity and compliance for comfort…
A foundational result in origami mathematics is Kawasaki and Justin's simple, efficient characterization of flat foldability for unassigned single-vertex crease patterns (where each crease can fold mountain or valley) on flat material. This…
We fully generalize a previously-developed computational geometry tool [1] to perform large-scale simulations of arbitrary two-dimensional faceted surfaces $z = h(x,y)$. Our method uses a three-component facet/edge/junction storage model,…
The ability to transform a flat sheet into a complex three-dimensional structure is a fundamental test of physical intelligence. Unlike cloth manipulation, origami is governed by strict geometric axioms and hard kinematic constraints, where…