3 citations · 3 across the 4 of their papers we have counts for
4 papers
Real-Time Shape Control of Multi-Segment Soft Robotic Arms Using Koopman Operators with Global and Local Observables
Jiahe Wang, Eron Ristich, Sultan Haidar Ali +5
Multi-segment soft robotic arms can continuously reconfigure their body shapes for safe interaction, but tip control alone is insufficient for constrained-space tasks. Therefore, s…
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…
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…
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…