6 papers
Data-Driven Soft Robot Control via Adiabatic Spectral Submanifolds
Roshan S. Kaundinya, John Irvin Alora, Jonas G. Matt +3
The mechanical complexity of soft robots creates significant challenges for their model-based control. Specifically, linear data-driven models have struggled to control soft robots…
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)…
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…
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…
Data-Driven Reduction of the Finite-Element Model of a Tribomechadynamics Benchmark Problem
Ahmed Amr Morsy, Zhenwei Xu, Paolo Tiso +1
Bolted joints can exhibit nonsmooth and significantly nonlinear dynamics. Finite Element Models (FEMs) of this phenomenon require fine spatial discretizations, inclusion of nonline…