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)…
eess.SY2025
Taming High-Dimensional Dynamics: Learning Optimal Projections onto Spectral Submanifolds
Hugo Buurmeijer, Luis A. Pabon, John Irvin Alora +3
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically…
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…