Publications de Mark Pauly | EPFL Graph Search

Inverse Geometric Locomotion

Numerous tasks in robotics and character animation involve solving combinations of inverse kinematics and motion planning problems that require the precise design of pose sequences to achieve desired motion objectives. Accounting for the complex interplay ...

2025

Smooth-Rolling Knots

Mark Pauly, Michele Vidulis

Morton's knots are a family of space curves to which there is no plane simultaneously tangent in three distinct points. This property enables a physical instance to roll on a plane while having at most two contact points with it. These knots are not smooth ...

2025

C-Tubes: Design and Optimization of Tubular Structures Composed of Developable Strips

Mark Pauly, Michele Vidulis, Florin Isvoranu, Quentin Christian Becker

We introduce C-tubes, 3D tubular structures composed of developable surface strips. C-tubes can be understood as a generalization of Monge surfaces---a special class of sweep surfaces---towards the recently introduced cone-nets. This observation allows fo ...

2025

Interactive Design of C-shells Using Reduced Parametric Families

Mark Pauly, Quentin Christian Becker, Seiichi Eduardo Suzuki Erazo

Elastic gridshells are a class of planar-to-3D linkages typically composed of straight flexible beams connected via rigid rotational joints. The integration of planar curved flexible beams into these linkages significantly broadens their design space, allo ...

2024

Computational Homogenization for Inverse Design of Surface-based Inflatables

Mark Pauly, Francis Julian Panetta, Uday Kusupati, Yingying Ren, Florin Isvoranu, Seiichi Eduardo Suzuki Erazo

Surface-based inflatables are composed of two thin layers of nearly inextensible sheet material joined together along carefully selected fusing curves. During inflation, pressure forces separate the two sheets to maximize the enclosed volume. The fusing c ...

2024

Computational Design of a Kit of Parts for Bending Active Structures

Mark Pauly, Uday Kusupati, Quentin Christian Becker, Seiichi Eduardo Suzuki Erazo

Bending-active structures are composed of elastic elements that deform to achieve a desired target shape. To support effective design, inverse algorithms have been proposed that optimize the geometry of each element specifically for each design. This makes ...

Association for Computing Machinery (ACM)2024

Tencers: Tension-Constrained Elastic Rods

Mark Pauly, Michele Vidulis, Yingying Ren

We study ensembles of elastic rods that are tensioned by a small set of inextensible cables. The cables induce forces that deform the initially straight, but flexible rods into 3D space curves at equilibrium. Rods can be open or closed, knotted, and arrang ...

2024

BamX: Rethinking Deployability in Architecture through Weaving

Mark Pauly, Yingying Ren, Tian Chen, Seiichi Eduardo Suzuki Erazo, Stefana Parascho

Deployable gridshells are a class of planar-to-spatial structures that achievea 3D curved geometry by inducing bending on a flat grid of elastic beams. However, theslender nature of these beams often conflicts with the structure’s load-bearing capacity.To ...

De Gruyter2023

RUM: Reconfigurable Umbrella Mesh

Mark Pauly, Uday Kusupati, Florin Isvoranu, Seiichi Eduardo Suzuki Erazo

We propose Reconfigurable Umbrella Meshes (RUMs), a new class of preassembled deployable structures. A RUM has a compact rest state that can be easily altered to deploy into different bending-active 3D target shapes. RUMs consist of elastic beams and rigid ...

De Gruyter2023

C-shells: Deployable Gridshells with Curved Beams

Mark Pauly, Francis Julian Panetta, Yingying Ren, Quentin Christian Becker, Davide Pellis, Seiichi Eduardo Suzuki Erazo

We introduce a computational pipeline for simulating and designing C-shells, a new class of planar-to-spatial deployable linkage structures. A C-shell is composed of curved flexible beams connected at rotational joints that can be assembled in a stress-fre ...

2023

Computational Exploration of Multistable Elastic Knots

Mark Pauly, Michele Vidulis, Yingying Ren

We present an algorithmic approach to discover, study, and design multistable elastic knots. Elastic knots are physical realizations of closed curves embedded in 3-space. When endowed with the material thickness and bending resistance of a physical wire, t ...

2023

Umbrella Meshes: Elastic Mechanisms for Freeform Shape Deployment

Mark Pauly, Uday Kusupati, Yingying Ren, Florin Isvoranu, Tian Chen, Davide Pellis

We present a computational inverse design framework for a new class of volumetric deployable structures that have compact rest states and deploy into bending-active 3D target surfaces. Umbrella meshes consist of elastic beams, rigid plates, and hinge joint ...

2022

Computational Inverse Design of Surface-based Inflatables

Mark Pauly, Francis Julian Panetta, Florin Isvoranu, Tian Chen

We present a computational inverse design method for a new class of surface-based inflatable structure. Our deployable structures are fabricated by fusing together two layers of inextensible sheet material along carefully selected curves. The fusing curves ...

2021

A reprogrammable mechanical metamaterial with stable memory

Mark Pauly, Pedro Miguel Nunes Pereira de Almeida Reis, Tian Chen

Metamaterials are designed to realize exotic physical properties through the geometric arrangement of their underlying structural layout(1,2). Traditional mechanical metamaterials achieve functionalities such as a target Poisson's ratio(3) or shape transfo ...

2021

Bistable Auxetic Surface Structures

Mark Pauly, Francis Julian Panetta, Tian Chen, Max Schnaubelt

We present Bistable Auxetic Surface Structures, a novel deployable material system based on optimized bistable auxetic cells. Such a structure can be flat-fabricated from elastic sheet material, then deployed towards a desired double-curved target shape by ...

2021

State of the Art on Computational Design of Assemblies with Rigid Parts

Mark Pauly, Peng Song

An assembly refers to a collection of parts joined together to achieve a specific form and/or functionality. Designing assemblies is a non-trivial task as a slight local modification on a part's geometry or its joining method could have a global impact on ...

WILEY2021

MOCCA: Modeling and Optimizing Cone-joints for Complex Assemblies

Mark Pauly, Peng Song

We present a computational framework for modeling and optimizing complex assemblies using cone joints. Cone joints are integral joints that generalize traditional single-direction joints such as mortise and tenon joints to support a general cone of directi ...

2021

3D Weaving with Curved Ribbons

Mark Pauly, Francis Julian Panetta, Yingying Ren, Florin Isvoranu, Tian Chen, Samuel Jean Bernard Poincloux, Christopher Brandt

Basket weaving is a traditional craft for creating curved surfaces as an interwoven array of thin, flexible, and initially straight ribbons. The three-dimensional shape of a woven structure emerges through a complex interplay of the elastic bending behavio ...

2021

Computational Design of Weingarten Surfaces

Mark Pauly, Davide Pellis

In this paper we study Weingarten surfaces and explore their potential for fabrication-aware design in freeform architecture. Weingarten surfaces are characterized by a functional relation between their principal curvatures that implicitly defines approxim ...

2021

The Canopy Pavilion: A lightweight shading structure using a deployable auxetic linkage membrane

Etienne Bouleau, Dieter Dietz, Mark Pauly, Arthur François Blanc, Florin Isvoranu, Tian Chen

We present the Canopy Pavilion, a lightweight shading structure for a social gathering space. The shading surface is realized as a tensioned auxetic linkage membrane, composed of two double-curved anticlastic layers separated by a compression pole. The mem ...

2020