3 accepted papers
In this paper, we present a soft modular block inspired by tensegrity structures that can form load-bearing structures through self-assembly. The block comprises a stellated compliant skeleton, shape memory alloy muscles, and permanent magnet connectors. We classify five deformation primitives for i
Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this letter, we exploit the opportunities presented by soft, modul
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows…