3 papers
eess.SY2026
On the Nonexistence of Continuous Immersions for Discrete-time Systems
Eron Ristich, Eduardo Sontag, Necmiye Ozay
Understanding when linear immersions of nonlinear dynamical systems exist is important since such immersions allow us to leverage the rich tools of linear system theory to analyze…
cs.RO2025
Shape control of simulated multi-segment continuum robots via Koopman operators with per-segment projection
Eron Ristich, Jiahe Wang, Lei Zhang +4
Soft continuum robots can allow for biocompatible yet compliant motions, such as the ability of octopus arms to swim, crawl, and manipulate objects. However, current state-of-the-a…
cs.RO2025
Physics-informed Split Koopman Operators for Data-efficient Soft Robotic Simulation
Eron Ristich, Lei Zhang, Yi Ren +1
Koopman operator theory provides a powerful data-driven technique for modeling nonlinear dynamical systems in a linear framework, in comparison to computationally expensive and hig…