Soft Robot Optimal Control Via Reduced Order Finite Element Models

v1v2 (latest)

Soft Robot Optimal Control Via Reduced Order Finite Element Models

4 November 2020

Joseph Lorenzetti

ArXiv (abs)PDF HTML

Papers citing "Soft Robot Optimal Control Via Reduced Order Finite Element Models"

15 / 15 papers shown

Title
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 72 0 0 13 Mar 2025
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization Abdulaziz Alkayas A. Mathew Daniel Feliú Talegon Ping Deng T. G. Thuruthel F. Renda 132 4 0 20 Feb 2025
Soft Robotics for Search and Rescue: Advancements, Challenges, and Future Directions Abhishek Sebastian 82 1 0 17 Feb 2025
Physics-informed Split Koopman Operators for Data-efficient Soft Robotic Simulation Eron Ristich Lei Zhang Yi Ren Jiefeng Sun 99 1 0 31 Jan 2025
Real-Time Trajectory Generation for Soft Robot Manipulators Using Differential Flatness Akua Dickson Juan C. Pacheco Garcia R. Jing M. L. Anderson Andrew P. Sabelhaus 81 1 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 70 0 0 11 Jul 2024
Bioinspired Soft Robotics: state of the art, challenges, and future directions Maxwell Hammond V. Cichella Caterina Lamuta AI4CE 53 10 0 19 Dec 2023
Unsupervised Sim-to-Real Adaptation of Soft Robot Proprioception using a Dual Cross-modal Autoencoder Chaeree Park Hyunkyu Park Jung Kim 49 0 0 21 Oct 2023
Robust Nonlinear Reduced-Order Model Predictive Control J. I. Alora Luis A. Pabon Johannes Köhler Mattia Cenedese Edward Schmerling Melanie Zeilinger George Haller Marco Pavone 35 3 0 11 Sep 2023
Koopman Operators for Modeling and Control of Soft Robotics Lu Shi Zhichao Liu Konstantinos Karydis 101 20 0 23 Jan 2023
Using Spectral Submanifolds for Nonlinear Periodic Control Florian Mahlknecht J. I. Alora Shobhit Jain Edward Schmerling Riccardo Bonalli George Haller Marco Pavone 100 6 0 14 Sep 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
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
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
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 79 212 0 04 Oct 2021