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Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory

15 October 2018

Papers citing "Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory"

34 / 34 papers shown

Title
Redefining Clustered Federated Learning for System Identification: The Path of ClusterCraft Ertuğrul Keçeci Müjde Güzelkaya Tufan Kumbasar FedML 77 0 0 22 May 2025
Multi-segment Soft Robot Control via Deep Koopman-based Model Predictive Control Lei Lv Lei Liu Lei Bao F. Sun Jiahong Dong Jianwei Zhang Xuemei Shan Kai Sun Hao Huang Yu-Juan Luo 74 0 0 01 May 2025
A Koopman Operator-based NMPC Framework for Mobile Robot Navigation under Uncertainty Xiaobin Zhang Mohamed Karim Bouafoura Lu Shi Konstantinos Karydis 119 1 0 29 Apr 2025
Data-Driven Contact-Aware Control Method for Real-Time Deformable Tool Manipulation: A Case Study in the Environmental Swabbing Siavash Mahmoudi Amirreza Davar Dongyi Wang 84 0 0 27 Mar 2025
Learning-based Estimation of Forward Kinematics for an Orthotic Parallel Robotic Mechanism Jingzong Zhou Yuhan Zhu Xiaobin Zhang Sunil Agrawal Konstantinos Karydis 105 2 0 14 Mar 2025
"Only ChatGPT gets me": An Empirical Analysis of GPT versus other Large Language Models for Emotion Detection in Text Florian Lecourt Madalina Croitoru Konstantin Todorov AI4MH 67 0 0 05 Mar 2025
Koopman Operators in Robot Learning Lu Shi Masih Haseli Giorgos Mamakoukas Daniel Bruder Ian Abraham Todd Murphey Jorge Cortes Konstantinos Karydis AI4CE 120 8 0 08 Aug 2024
Data-driven Model Reduction for Soft Robots via Lagrangian Operator Inference Harsh Sharma Iman Adibnazari Jacobo Cervera-Torralba M. Tolley Boris Kramer 70 0 0 11 Jul 2024
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation Hongyi Chen Abulikemu Abuduweili Aviral Agrawal Yunhai Han Harish Ravichandar Changliu Liu Jeffrey Ichnowski 117 6 0 29 Jun 2024
Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems Rajpal Singh Chandan Kumar Sah Jishnu Keshavan 62 1 0 15 May 2024
Reconfigurable Robot Identification from Motion Data Yuhang Hu Yunzhe Wang Ruibo Liu Zhou Shen Hod Lipson 53 1 0 15 Mar 2024
Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist Hai Nguyen Tadashi Kozuno C. C. Beltran-Hernandez Masashi Hamaya 95 8 0 28 Feb 2024
Inferring Inference Rajkumar Vasudeva Raju Zhe Li Scott W. Linderman Xaq Pitkow 85 1 0 04 Oct 2023
Stackelberg Game-Theoretic Trajectory Guidance for Multi-Robot Systems with Koopman Operator Yuhan Zhao Quanyan Zhu 76 3 0 28 Sep 2023
Data-Driven Batch Localization and SLAM Using Koopman Linearization Zi Cong Guo Frederike Dumbgen James R. Forbes Timothy D. Barfoot 81 4 0 08 Sep 2023
SE(3) Koopman-MPC: Data-driven Learning and Control of Quadrotor UAVs S. Narayanan D. Tellez-Castro S. Sutavani Umesh Vaidya 71 14 0 05 May 2023
Bioinspired soft robotics: How do we learn from creatures? Yang Yang Zhiguo He Pengcheng Jiao Hongliang Ren 42 19 0 24 Feb 2023
Koopman Operators for Modeling and Control of Soft Robotics Lu Shi Zhichao Liu Konstantinos Karydis 101 20 0 23 Jan 2023
Koopman interpretation and analysis of a public-key cryptosystem: Diffie-Hellman key exchange Sebastian Schlor Robin Strässer Frank Allgöwer 46 4 0 21 Nov 2022
Sample-efficient Model Predictive Control Design of Soft Robotics by Bayesian Optimization Anuj Pal Tianyi He Wenpeng Wei 39 1 0 17 Oct 2022
Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots J. I. Alora Mattia Cenedese Edward Schmerling George Haller Marco Pavone 173 31 0 13 Sep 2022
Online Modeling and Control of Soft Multi-fingered Grippers via Koopman Operator Theory Lu Shi Caio Mucchiani Konstantinos Karydis 46 9 0 21 Jun 2022
STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations Jiayi Wei Jarrett Holtz Işıl Dillig Joydeep Biswas 64 4 0 02 Mar 2022
ACD-EDMD: Analytical Construction for Dictionaries of Lifting Functions in Koopman Operator-based Nonlinear Robotic Systems Lu Shi Konstantinos Karydis 127 27 0 24 Nov 2021
Trajectory Optimization for Thermally-Actuated Soft Planar Robot Limbs A. Wertz Andrew P. Sabelhaus Carmel Majidi 21 9 0 18 Oct 2021
Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems Lu Shi Konstantinos Karydis 70 11 0 01 Mar 2021
Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator David A. Haggerty M. Banks Patrick C. Curtis Igor Mezić E. Hawkes 55 27 0 16 Nov 2020
Learning Stable Models for Prediction and Control Giorgos Mamakoukas Ian Abraham Todd Murphey 92 39 0 08 May 2020
A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines Kun Wang Mridul Aanjaneya Kostas Bekris PINN 73 22 0 28 Apr 2020
Safe and Compliant Control of Redundant Robots Using Superimposition of Passive Task-Space Controllers Carlo Tiseo W. Merkt W. Wolfslag S. Vijayakumar M. Mistry 35 18 0 27 Feb 2020
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions Daniel Bruder Xun Fu R. Gillespie C. D. Remy Ram Vasudevan 64 66 0 04 Feb 2020
Learning Compositional Koopman Operators for Model-Based Control Yunzhu Li Hao He Jiajun Wu Dina Katabi Antonio Torralba 112 121 0 18 Oct 2019
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control Daniel Bruder B. Gillespie C. D. Remy Ram Vasudevan 81 146 0 07 Feb 2019
Comparison and Experimental Validation of Predictive Models for Soft, Fiber-Reinforced Actuators Audrey Sedal A. Wineman R. Gillespie C. D. Remy 22 23 0 31 Jan 2019