4 papers
Lotka-Sharpe Neural Operators for Control of Population PDEs
Miroslav Krstic, Iasson Karafyllis, Luke Bhan +1
Age-structured predator-prey integro-partial differential equations provide models of interacting populations in ecology, epidemiology, and biotechnology. A key challenge in feedba…
Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators
Carina Veil, Moritz Flaschel, Ellen Kuhl +1
For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configura…
Shape-Space Graphs: Fast and Collision-Free Path Planning for Soft Robots
Carina Veil, Moritz Flaschel, Ellen Kuhl
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion plann…
Material Fingerprinting: A shortcut to material model discovery without solving optimization problems
Moritz Flaschel, Denisa Martonová, Carina Veil +1
We propose Material Fingerprinting, a new method for the rapid discovery of mechanical material models from direct or indirect data that avoids solving potentially non-convex optim…