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Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control

7 February 2019

Papers citing "Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control"

50 / 55 papers shown

Title
Safe Navigation in Dynamic Environments Using Data-Driven Koopman Operators and Conformal Prediction Kaier Liang Guang Yang Mingyu Cai C. Vasile 122 1 0 01 Apr 2025
Koopman Learning with Episodic Memory William T. Redman Dean Huang M. Fonoberova Igor Mezić 93 0 0 08 Jan 2025
Towards LLM-guided Efficient and Interpretable Multi-linear Tensor Network Rank Selection Giorgos Iacovides Wuyang Zhou Danilo Mandic 114 0 0 14 Oct 2024
Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers Jianxin Bi Kelvin Lim Kaiqi Chen Yifei Huang Harold Soh 110 1 0 10 Oct 2024
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller Jeonghwan Kim Yunhai Han Harish Ravichandar Sehoon Ha 94 2 0 23 Sep 2024
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
Limits and Powers of Koopman Learning Matthew J. Colbrook Igor Mezić Alexei Stepanenko 67 11 0 08 Jul 2024
PyDMD: A Python package for robust dynamic mode decomposition Sara M. Ichinaga Francesco Andreuzzi N. Demo M. Tezzele Karl Lapo G. Rozza Steven L. Brunton J. Nathan Kutz AI4CE 90 17 0 12 Feb 2024
Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators Kyle L. Walker Cosimo Della Santina F. G. Serchi 19 3 0 24 Jan 2024
Design, Manufacturing and Open-Loop Control of a Soft Pneumatic Arm J. F. García-Samartín Adrián Rieker Antonio Barrientos 35 12 0 02 Jan 2024
Beyond expectations: Residual Dynamic Mode Decomposition and Variance for Stochastic Dynamical Systems Matthew J. Colbrook Qin Li Ryan V. Raut Alex Townsend 109 17 0 21 Aug 2023
Efficient Dynamics Modeling in Interactive Environments with Koopman Theory Arnab Kumar Mondal Siba Smarak Panigrahi Sai Rajeswar K. Siddiqi Siamak Ravanbakhsh 85 3 0 20 Jun 2023
Closed-Loop Koopman Operator Approximation Steven Dahdah James R. Forbes 62 2 0 27 Mar 2023
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills Yunhai Han Mandy Xie Ye Zhao Harish Ravichandar 96 19 0 23 Mar 2023
Koopman Operators for Modeling and Control of Soft Robotics Lu Shi Zhichao Liu Konstantinos Karydis 101 20 0 23 Jan 2023
Online Real-time Learning of Dynamical Systems from Noisy Streaming Data: A Koopman Operator Approach S. Sinha S. Nandanoori D. Barajas-Solano 20 4 0 10 Dec 2022
Online Estimation of the Koopman Operator Using Fourier Features Tahiya Salam Alice K. Li M. Hsieh 54 6 0 03 Dec 2022
A geometric approach towards inverse kinematics of soft extensible pneumatic actuators intended for trajectory tracking Mahboubeh Keyvanara Arman Goshtasbi I. A. Kuling 142 5 0 11 Nov 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
The mpEDMD Algorithm for Data-Driven Computations of Measure-Preserving Dynamical Systems Matthew J. Colbrook 81 34 0 06 Sep 2022
Neural Approaches to Co-Optimization in Robotics Charles B. Schaff 96 1 0 01 Sep 2022
Data-driven End-to-end Learning of Pole Placement Control for Nonlinear Dynamics via Koopman Invariant Subspaces Tomoharu Iwata Yoshinobu Kawahara 41 3 0 16 Aug 2022
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs Stephan-Daniel Gravert M. Michelis Simon Rogler Dario Tscholl Thomas Buchner Robert K. Katzschmann 112 6 0 01 Aug 2022
Toward smart composites: small-scale, untethered prediction and control for soft sensor/actuator systems Sarah Aguasvivas Manzano V. Sundaram Artemis Xu K. Ly M. Rentschler R. Shepherd N. Correll 47 5 0 22 May 2022
Residual Dynamic Mode Decomposition: Robust and verified Koopmanism Matthew J. Colbrook Lorna J. Ayton Máté Szőke 71 62 0 19 May 2022
Multimodel Sensor Fusion for Learning Rich Models for Interacting Soft Robots T. G. Thuruthel Fumiya Iida 64 9 0 09 May 2022
Soft Robots Learn to Crawl: Jointly Optimizing Design and Control with Sim-to-Real Transfer Charles B. Schaff Audrey Sedal Matthew R. Walter 67 26 0 09 Feb 2022
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation Mathieu Dubied M. Michelis Andrew Spielberg Robert K. Katzschmann AI4CE 71 33 0 29 Jan 2022
Rigorous data-driven computation of spectral properties of Koopman operators for dynamical systems Matthew J. Colbrook Alex Townsend 95 72 0 29 Nov 2021
System Norm Regularization Methods for Koopman Operator Approximation Steven Dahdah James R. Forbes 51 11 0 18 Oct 2021
Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges Cosimo Della Santina Christian Duriez Daniela Rus AI4CE 72 212 0 04 Oct 2021
Adaptive Dynamic Sliding Mode Control of Soft Continuum Manipulators Amirhossein Kazemipour O. Fischer Yasunori Toshimitsu K. Wong Robert K. Katzschmann 97 15 0 23 Sep 2021
Learning and Leveraging Features in Flow-Like Environments to Improve Situational Awareness Tahiya Salam Victoria Edwards M. A. Hsieh 49 7 0 13 Sep 2021
Active Learning in Robotics: A Review of Control Principles Annalisa T. Taylor Thomas A. Berrueta Todd Murphey 98 76 0 25 Jun 2021
Koopman NMPC: Koopman-based Learning and Nonlinear Model Predictive Control of Control-affine Systems C. Folkestad J. W. Burdick 61 48 0 17 May 2021
Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation Nicholas Stearns S. M. I. H. Harry Asada 75 13 0 05 Apr 2021
SoPrA: Fabrication & Dynamical Modeling of a Scalable Soft Continuum Robotic Arm with Integrated Proprioceptive Sensing Yasunori Toshimitsu K. Wong Thomas Buchner Robert K. Katzschmann 60 37 0 19 Mar 2021
Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems Lu Shi Konstantinos Karydis 70 11 0 01 Mar 2021
Linear Matrix Inequality Approaches to Koopman Operator Approximation Steven Dahdah James R. Forbes 36 6 0 06 Feb 2021
High-bandwidth nonlinear control for soft actuators with recursive network models Sarah Aguasvivas Manzano Patricia A. Xu K. Ly R. Shepherd N. Correll 35 3 0 04 Jan 2021
Data-Driven Geometric System Identification for Shape-Underactuated Dissipative Systems Brian A. Bittner Ross L. Hatton Shai Revzen 41 5 0 21 Dec 2020
DeepKoCo: Efficient latent planning with a task-relevant Koopman representation B. V. D. Heijden L. Ferranti Jens Kober Robert Babuška 41 7 0 25 Nov 2020
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
Soft Robot Optimal Control Via Reduced Order Finite Element Models Sander Tonkens Joseph Lorenzetti Marco Pavone 60 31 0 04 Nov 2020
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics Daniel Bruder Xun Fu Ram Vasudevan 57 81 0 20 Oct 2020
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems Giorgos Mamakoukas Maria L. Castaño Xiaobo Tan Todd Murphey 71 92 0 12 Oct 2020
Soft Multicopter Control using Neural Dynamics Identification Yitong Deng Yaorui Zhang Xingzhe He Shuqi Yang Yunjin Tong Michael Zhang Daniel M. DiPietro Bo Zhu 57 7 0 18 Aug 2020
Steps Towards Best Practices For Robot Videos Eric Rosen Stefanie Tellex Geroge Konidaris 13 0 0 13 Jul 2020
Data-driven Koopman Operators for Model-based Shared Control of Human-Machine Systems Alexander Broad Ian Abraham Todd Murphey B. Argall 77 37 0 12 Jun 2020
When is Particle Filtering Efficient for Planning in Partially Observed Linear Dynamical Systems? S. Du Wei Hu Zhiyuan Li Ruoqi Shen Zhao Song Jiajun Wu 58 1 0 10 Jun 2020