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cs.RO2026
Learning-Based Modeling of Soft Robots via Cosserat Rod Theory
Mohammad Ali, Nithin Senthur Kumar, Eric J. Barth +1
Modeling soft robot dynamics is challenging due to their continuum structure and typically nonlinear dynamics. Creating models based on first-order principles is typically time-dem…
cs.RO2025
Plug-and-Play Physics-informed Learning using Uncertainty Quantified Port-Hamiltonian Models
Kaiyuan Tan, Peilun Li, Jun Wang +1
The ability to predict trajectories of surrounding agents and obstacles is a crucial component in many robotic applications. Data-driven approaches are commonly adopted for state p…