16 citations · 46 across the 11 of their papers we have counts for
3 papers · 1 filter
Orientation Control of Soft Robots via Adiabatic Spectral Submanifolds
Aron Karakai, Roshan S. Kaundinya, Mike Yan Michelis +2
Soft robots are commonly sought for safety-critical interactions in delicate environments, where accurate position and orientation control is imperative. Model predictive control (…
Parametric Spectral Submanifolds across Hopf Bifurcations with Applications to Fluid Dynamics
James King, Bálint Kaszás, Gergely Buza +2
We investigate the persistence and regularity of spectral submanifolds (SSMs) in high-dimensional parametric dynamical systems undergoing a Hopf bifurcation. By analyzing how reson…
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)…