4 papers · 1 filter
frax: Fast Robot Kinematics and Dynamics in JAX
Daniel Morton, Marco Pavone
In robot control, planning, and learning, there is a need for rigid-body dynamics libraries that are highly performant, easy to use, and compatible with CPUs and accelerators. Whil…
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…
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…
Perfecting Periodic Trajectory Tracking: Model Predictive Control with a Periodic Observer (-MPC)
Luis Pabon, Johannes Köhler, John Irvin Alora +4
In Model Predictive Control (MPC), discrepancies between the actual system and the predictive model can lead to substantial tracking errors and significantly degrade performance an…