3 papers
math.DS2026
Nonlinear Spectral Modeling and Control of Soft-Robotic Muscles from Data
Leonardo Bettini, Amirhossein Kazemipour, Robert K. Katzschmann +1
Artificial muscles are essential for compliant musculoskeletal robotics but complicate control due to nonlinear multiphysics dynamics. Hydraulically amplified electrostatic (HASEL)…
math.DS2025
Data-Driven Nonlinear Model Reduction to Spectral Submanifolds via Oblique Projection
Leonardo Bettini, Bálint Kaszás, Bernhard Zybach +2
The dynamics in a primary Spectral Submanifold (SSM) constructed over the slowest modes of a dynamical system provide an ideal reduced-order model for nearby trajectories. Modeling…
math.DS2023
Model Reduction to Spectral Submanifolds in Non-Smooth Dynamical Systems
Leonardo Bettini, Mattia Cenedese, George Haller
We develop a model reduction technique for non-smooth dynamical systems using spectral submanifolds. Specifically, we construct low-dimensional, sparse, nonlinear and non-smooth mo…