相关论文: Modeling, Reduction, and Control of a Helically Ac…

Controlling robots with strongly nonlinear, high-dimensional dynamics remains challenging, as direct nonlinear optimization with safety constraints is often intractable in real time. The Koopman operator offers a way to represent nonlinear…

Artificial muscles are essential for compliant musculoskeletal robotics but complicate control due to nonlinear multiphysics dynamics. Hydraulically amplified electrostatic (HASEL) actuators, a class of soft artificial muscles, offer high…

Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…

Robots built from soft materials can alter their shape and size in a particular profile. This shape-changing ability could be extremely helpful for rescue robots and those operating in unknown terrains and environments. In changing shape,…

Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, they remain largely confined to laboratory settings. In this…

The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…

Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subject to such fast motions, the complexity of cloth dynamics…

Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…

This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…

Soft robots have struggled to support large forces and moments while also supporting their own weight against gravity. This limits their ability to reach certain configurations necessary for tasks such as inspection and pushing objects up.…

Deformable Object Manipulation (DOM) remains a critical challenge in robotics due to the complexities of developing suitable model-based control strategies. Deformable Tool Manipulation (DTM) further complicates this task by introducing…

Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. These high-fidelity models are therefore ideal for designing…

We propose a noise-robust learning framework for the Koopman operator of nonlinear dynamical systems, with guaranteed long-term stability and improved model performance for better model-based predictive control tasks. Unlike some existing…

Advances in machine learning and the growing trend towards effortless data generation in real-world systems has led to an increasing interest for data-inferred models and data-based control in robotics. It seems appealing to govern robots…

Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While soft robots offer increased compliance over rigid body…

While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…

Within this work, we investigate how data-driven numerical approximation methods of the Koopman operator can be used in practical control engineering applications. We refer to the method Extended Dynamic Mode Decomposition (EDMD), which…

Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…

Koopman operator theory provides a powerful data-driven technique for modeling nonlinear dynamical systems in a linear framework, in comparison to computationally expensive and highly nonlinear physics-based simulations. However, Koopman…

Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…