相关论文: A Layered Control Perspective on Legged Locomotion…

We propose a unified data-driven reduced order model (ROM) that bridges the performance gap between linear and nonlinear manifold approaches. Deep learning ROM (DL-ROM) using deep-convolutional autoencoders (DC-AE) has been shown to capture…

This work presents a nonintrusive physics-preserving method to learn reduced-order models (ROMs) of Lagrangian systems, which includes nonlinear wave equations. Existing intrusive projection-based model reduction approaches construct…

Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. Classical approaches rely on…

In this paper, a dynamic closure modeling approach has been derived to stabilize the projection-based reduced order models in the long-term evolution of forced-dissipative dynamical systems. To simplify our derivation without losing…

We present a reduced order modeling (ROM) technique for subsurface multi-phase flow problems building on the recently introduced deep residual recurrent neural network (DR-RNN) [1]. DR-RNN is a physics aware recurrent neural network for…

We explore a reduced-order model (ROM) of plane Couette flow with a view to performing turbulence control. The ROM is derived through Galerkin projections of the incompressible Navier-Stokes (NS) system onto a basis composed of…

The Model Order Reduction (MOR) technique can provide compact numerical models for fast simulation. Different from the intrusive MOR methods, the non-intrusive MOR does not require access to the Full Order Models (FOMs), especially system…

This paper formulates, analyzes, and demonstrates numerically a method for the partitioned solution of coupled interface problems involving combinations of projection-based reduced order models (ROM) and/or full order methods (FOMs). The…

This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…

While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…

Reduced-order models are indispensable for multi-query or real-time problems. However, there are still many challenges to constructing efficient ROMs for time-dependent parametrized problems. Using a linear reduced space is inefficient for…

Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…

Recent studies have demonstrated the great potential of reduced order modeling for parametric dynamical systems using low-rank tensor decompositions (LRTD). In particular, within the framework of interpolatory tensorial reduced order models…

In this study, we present a non-intrusive reduced order modeling (ROM) framework for large-scale quasi-stationary systems. The framework proposed herein exploits the time series prediction capability of long short-term memory (LSTM)…

Hybrid track/wheel-legged robots combine the advantages of wheel-based and leg-based locomotion, granting adaptability across varied terrains through efficient transitions between rolling and walking modes. However, automating these…

In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…

A novel reduced order model (ROM) for incompressible flows is developed by performing a Galerkin projection based on a fully (space and time) discrete full order model (FOM) formulation. This 'discretize-then-project' approach requires no…

Selecting robot design parameters can be challenging since these parameters are often coupled with the performance of the controller and, therefore, the resulting capabilities of the robot. This leads to a time-consuming and often expensive…

This work presents a novel reduced-order model (ROM) for the incompressible Navier-Stokes equations with time-dependent boundary conditions. This ROM is velocity-only, i.e. the simulation of the velocity does not require the computation of…

Non-intrusive model reduction is a promising solution to system dynamics prediction, especially in cases where data are collected from experimental campaigns or proprietary software simulations. In this work, we present a method for…