相关论文: Quadrature Oscillation System for Coordinated Moti…

Multiple organs in a living system respond to environmental changes, and the signals from the organs regulate the physiological environment. Inspired by this biological feedback, we propose a simple autonomous system of active rotators to…

Origami crease patterns are folding paths that transform flat sheets into spatial objects. Origami patterns with a single degree of freedom (DOF) have creases that fold simultaneously. More often, several substeps are required to…

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…

For a robot to be both autonomous and collaborative requires the ability to adapt its movement to a variety of external stimuli, whether these come from humans or other robots. Typically, legged robots have oscillation periods explicitly…

Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments…

We report the diversity of scroll wave chimeras in the three-dimensional (3D) Kuramoto model with inertia for N^{3} identical phase oscillators placed in a unit 3D cube with periodic boundary conditions. In the considered model with…

Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…

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…

Spherical robots can conduct surveillance in hostile, cluttered environments without being damaged, as their protective shell can safely house sensors such as cameras. However, lateral oscillations, also known as wobble, occur when these…

Oscillators and rotators are among the most important physical systems. For centuries the only known rotating systems that actually reached the limits of the ideal situation of undamped periodical motion were the planets in their orbits.…

The conditions under which synchronization is achieved for a one-dimensional ring of identical phase oscillators with Kuramoto-like local coupling are studied. The system is approached in the weakly coupled approximation as phase units.…

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…

This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami…

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…

We study systems of Kuramoto oscillators, driven by one pacemaker, on $d$-dimensional regular topologies like linear chains, rings, hypercubic lattices and Cayley-trees. For the special cases of next-neighbor and infinite-range…

Common models of synchronizable oscillatory systems consist of a collection of coupled oscillators governed by a collection of differential equations. The ubiquitous Kuramoto models rely on an {\em a priori} fixed connectivity pattern…

This paper presents the design of a gimballed rotor mechanism as a modular and efficient solution for constructing omnidirectional quadrotors. Unlike conventional quadrotors, which are underactuated, this class of quadrotors achieves full…

In this work, we propose a novel single-end morphing capacitive sensing method for shape tracking, FxC, by combining Folding origami structures and Capacitive sensing to detect the morphing structural motions using state-of-the-art sensing…

We characterize the phase-space of all Helical Miura Origami. These structures are obtained by taking a partially folded Miura parallelogram as the unit cell, applying a generic helical or rod group to the cell, and characterizing all the…

An underdeveloped capability in soft robotics is proprioceptive feedback control, where soft actuators can be sensed and controlled using only sensors on the robot's body. Additionally, soft actuators are often unable to support human-scale…