3 citations · 3 across the 3 of their papers we have counts for
6 papers
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics
Daniel Bruder, Xun Fu, Ram Vasudevan
Nonlinear dynamical systems can be made easier to control by lifting them into the space of observable functions, where their evolution is described by the linear Koopman operator.…
Emulating duration and curvature of coral snake anti-predator thrashing behaviors using a soft-robotic platform
Shannon M. Danforth, Margaret Kohler, Daniel Bruder +4
This paper presents a soft-robotic platform for exploring the ecological relevance of non-locomotory movements via animal-robot interactions. Coral snakes (genus Micrurus) and thei…
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions
Daniel Bruder, Xun Fu, R. Brent Gillespie +2
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper pr…
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control
Daniel Bruder, Brent Gillespie, C. David Remy +1
Controlling soft robots with precision is a challenge due in large part to the difficulty of constructing models that are amenable to model-based control design techniques. Koopman…
Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory
Daniel Bruder, C. David Remy, Ram Vasudevan
Soft robots are challenging to model due in large part to the nonlinear properties of soft materials. Fortunately, this softness makes it possible to safely observe their behavior…
Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators
Daniel Bruder, Audrey Sedal, Ram Vasudevan +1
The compliant structure of soft robotic systems enables a variety of novel capabilities in comparison to traditional rigid-bodied robots. A subclass of soft fluid-driven actuators…