7 citations · 7 across the 5 of their papers we have counts for
8 papers
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 (…
Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots
Paul Leonard Wolff, Hugo Buurmeijer, Luis Pabon +6
Continuum robots exhibit high-dimensional, nonlinear dynamics which are often coupled with their actuation mechanism. Spectral submanifold (SSM) reduction has emerged as a leading…
Predicting Generalized Steady States in Aperiodically Forced Mechanical Systems
Roshan S. Kaundinya, Isabella Thiel, Bálint Kaszás +2
The existence of generalized steady states (GSSs) in nonlinear mechanical systems under moderate temporally aperiodic forcing has only been shown recently. Here we derive systemati…
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 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…
Nonlinear Model Reduction to Random Spectral Submanifolds in Random Vibrations
Zhenwei Xu, Roshan S. Kaundinya, Shobhit Jain +1
Dynamical systems in engineering and physics are often subject to irregular excitations that are best modeled as random. Monte Carlo simulations are routinely performed on such ran…
Revisiting the Thermal AdS partition function
Roshan Kaundinya, Omkar Nippanikar, Akash Singh +1
We rewrite the worldsheet torus partition function of the Thermal AdS CFT by isolating the boundary parameters. Using this, we show that the spectrum of the Euclidean BTZ black hol…
Approximate streamsurfaces for flow visualization
Stergios Katsanoulis, Florian Kogelbauer, Roshan Kaundinya +2
Instantaneous features of three-dimensional velocity fields are most directly visualized via streamsurfaces. It is generally unclear, however, which streamsurfaces one should pick…