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cs.RO2025
Dynamic Shape Control of Soft Robots Enabled by Data-Driven Model Reduction
Iman Adibnazari, Harsh Sharma, Myungsun Park +3
Soft robots have shown immense promise in settings where they can leverage dynamic control of their entire bodies. However, effective dynamic shape control requires a controller th…
cs.RO2024
Data-driven Model Reduction for Soft Robots via Lagrangian Operator Inference
Harsh Sharma, Iman Adibnazari, Jacobo Cervera-Torralba +2
Data-driven model reduction methods provide a nonintrusive way of constructing computationally efficient surrogates of high-fidelity models for real-time control of soft robots. Th…