3 papers
cs.RO2025
Learning to Crawl: Latent Model-Based Reinforcement Learning for Soft Robotic Adaptive Locomotion
Vaughn Gzenda, Robin Chhabra
Soft robotic crawlers are mobile robots that utilize soft body deformability and compliance to achieve locomotion through surface contact. Designing control strategies for such sys…
eess.SY2025
Geometric Fault-Tolerant Neural Network Tracking Control of Unknown Systems on Matrix Lie Groups
Robin Chhabra, Farzaneh Abdollahi
We present a geometric neural network-based tracking controller for systems evolving on matrix Lie groups under unknown dynamics, actuator faults, and bounded disturbances. Leverag…
math-ph2024
Affine Connection Approach to the Realization of Nonholonomic Constraints by Strong Friction Forces
Vaughn Gzenda, Robin Chhabra
In this paper, we study an affine connection approach to realizing nonholonomic mechanical systems mediated by viscous friction forces with large coefficients, viewed as a singular…