4 papers
Realizing Robotic Swimming with Unified Fluid-Robot Multiphysics
Jeong Hun Lee, Junzhe Hu, Sofia Kwok +2
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between t…
From Pixels to Torques with Linear Feedback
Jeong Hun Lee, Sam Schoedel, Aditya Bhardwaj +1
We demonstrate the effectiveness of simple observer-based linear feedback policies for "pixels-to-torques" control of robotic systems using only a robot-facing camera. Specifically…
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition}
Brian E. Jackson, Jeong Hun Lee, Kevin Tracy +1
We present a data-efficient algorithm for learning models for model-predictive control (MPC). Our approach, Jacobian-Regularized Dynamic-Mode Decomposition (JDMD), offers improved…
Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications
Jeong Hun Lee, Mike Y. Michelis, Robert Katzschmann +1
We present Aquarium, a differentiable fluid-structure interaction solver for robotics that offers stable simulation, accurately coupled fluid-robot physics in two dimensions, and f…