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2011.02092
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Soft Robot Optimal Control Via Reduced Order Finite Element Models
4 November 2020
Sander Tonkens
Joseph Lorenzetti
Marco Pavone
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Papers citing
"Soft Robot Optimal Control Via Reduced Order Finite Element Models"
18 / 18 papers shown
Dynamic Shape Control of Soft Robots Enabled by Data-Driven Model Reduction
Iman Adibnazari
Harsh Sharma
Myungsun Park
Jacobo Cervera-Torralba
Boris Kramer
M. Tolley
216
0
0
06 Nov 2025
Learning Soft Robotic Dynamics with Active Exploration
Hehui Zheng
Bhavya Sukhija
Chenhao Li
Klemens Iten
Andreas Krause
Robert K. Katzschmann
179
1
0
31 Oct 2025
Shape control of simulated multi-segment continuum robots via Koopman operators with per-segment projection
Eron Ristich
Jiahe Wang
Lei Zhang
Sultan Haidar Ali
Wanxin Jin
Yi Ren
Jiefeng Sun
179
0
0
15 Sep 2025
Data-Driven Soft Robot Control via Adiabatic Spectral Submanifolds
Roshan S. Kaundinya
J. I. Alora
Jonas G. Matt
Luis A. Pabon
Marco Pavone
George Haller
212
3
0
13 Mar 2025
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization
IEEE Transactions on robotics (IEEE Trans. Robot.), 2024
Abdulaziz Alkayas
A. Mathew
Daniel Feliú Talegon
Ping Deng
T. G. Thuruthel
F. Renda
343
13
0
20 Feb 2025
Soft Robotics for Search and Rescue: Advancements, Challenges, and Future Directions
Abhishek Sebastian
198
4
0
17 Feb 2025
Physics-informed Split Koopman Operators for Data-efficient Soft Robotic Simulation
IEEE International Conference on Robotics and Automation (ICRA), 2025
Eron Ristich
Lei Zhang
Yi Ren
Jiefeng Sun
330
3
0
31 Jan 2025
Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness
International Conference on Soft Robotics (RoboSoft), 2024
Akua Dickson
Juan C. Pacheco Garcia
R. Jing
M. L. Anderson
Andrew P. Sabelhaus
249
4
0
11 Dec 2024
Data-driven Model Reduction for Soft Robots via Lagrangian Operator Inference
Harsh Sharma
Iman Adibnazari
Jacobo Cervera-Torralba
M. Tolley
Boris Kramer
264
3
0
11 Jul 2024
Bioinspired Soft Robotics: state of the art, challenges, and future directions
Maxwell Hammond
V. Cichella
Caterina Lamuta
AI4CE
212
22
0
19 Dec 2023
Unsupervised Sim-to-Real Adaptation of Soft Robot Proprioception using a Dual Cross-modal Autoencoder
Soft Robotics (SR), 2023
Chaeree Park
Hyunkyu Park
Jung Kim
153
2
0
21 Oct 2023
Robust Nonlinear Reduced-Order Model Predictive Control
IEEE Conference on Decision and Control (CDC), 2023
J. I. Alora
Luis A. Pabon
Johannes Köhler
Mattia Cenedese
Edward Schmerling
Melanie Zeilinger
George Haller
Marco Pavone
147
9
0
11 Sep 2023
Koopman Operators for Modeling and Control of Soft Robotics
Current Robotics Reports (CRR), 2023
Lu Shi
Zhichao Liu
Konstantinos Karydis
376
33
0
23 Jan 2023
Using Spectral Submanifolds for Nonlinear Periodic Control
IEEE Conference on Decision and Control (CDC), 2022
Florian Mahlknecht
J. I. Alora
Shobhit Jain
Edward Schmerling
Riccardo Bonalli
George Haller
Marco Pavone
282
7
0
14 Sep 2022
Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots
IEEE International Conference on Robotics and Automation (ICRA), 2022
J. I. Alora
Mattia Cenedese
Edward Schmerling
George Haller
Marco Pavone
448
37
0
13 Sep 2022
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Stephan-Daniel Gravert
M. Michelis
Simon Rogler
Dario Tscholl
Thomas Buchner
Robert K. Katzschmann
260
7
0
01 Aug 2022
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation
IEEE Robotics and Automation Letters (RA-L), 2022
Mathieu Dubied
M. Michelis
Andrew Spielberg
Robert K. Katzschmann
AI4CE
242
46
0
29 Jan 2022
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
353
336
0
04 Oct 2021
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