5 papers
Spiking control systems for soft robotics: a rhythmic case study in a soft robotic crawler
Juncal Arbelaiz, Alessio Franci, Naomi Ehrich Leonard +2
Inspired by spiking neural feedback, we propose a spiking controller to engineer the locomotion of a soft robotic crawler. Its bistability, akin to neural fast positive feedback, c…
The role of communication delays in the optimal control of spatially invariant systems
Luca Ballotta, Juncal Arbelaiz, Vijay Gupta +2
We study optimal proportional feedback controllers for spatially invariant systems when the controller has access to delayed state measurements received from different spatial loca…
Optimal gait design for nonlinear soft robotic crawlers
Yenan Shen, Naomi Ehrich Leonard, Bassam Bamieh +1
Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their po…
Inferring System and Optimal Control Parameters of Closed-Loop Systems from Partial Observations
Victor Geadah, Juncal Arbelaiz, Harrison Ritz +3
We consider the joint problem of system identification and inverse optimal control for discrete-time stochastic Linear Quadratic Regulators. We analyze finite and infinite time hor…
Optimal estimation in spatially distributed systems: how far to share measurements from?
Juncal Arbelaiz, Bassam Bamieh, Anette E. Hosoi +1
We consider the centralized optimal estimation problem in spatially distributed systems. We use the setting of spatially invariant systems as an idealization for which concrete and…