Data-driven Model Reduction for Soft Robots via Lagrangian Operator Inference
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866917720085233664 |
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| author | Sharma, Harsh Adibnazari, Iman Cervera-Torralba, Jacobo Tolley, Michael T. Kramer, Boris |
| author_facet | Sharma, Harsh Adibnazari, Iman Cervera-Torralba, Jacobo Tolley, Michael T. Kramer, Boris |
| contents | Data-driven model reduction methods provide a nonintrusive way of constructing computationally efficient surrogates of high-fidelity models for real-time control of soft robots. This work leverages the Lagrangian nature of the model equations to derive structure-preserving linear reduced-order models via Lagrangian Operator Inference and compares their performance with prominent linear model reduction techniques through an anguilliform swimming soft robot model example with 231,336 degrees of freedom. The case studies demonstrate that preserving the underlying Lagrangian structure leads to learned models with higher predictive accuracy and robustness to unseen inputs. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_08840 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Data-driven Model Reduction for Soft Robots via Lagrangian Operator Inference Sharma, Harsh Adibnazari, Iman Cervera-Torralba, Jacobo Tolley, Michael T. Kramer, Boris Robotics Machine Learning Numerical Analysis Data-driven model reduction methods provide a nonintrusive way of constructing computationally efficient surrogates of high-fidelity models for real-time control of soft robots. This work leverages the Lagrangian nature of the model equations to derive structure-preserving linear reduced-order models via Lagrangian Operator Inference and compares their performance with prominent linear model reduction techniques through an anguilliform swimming soft robot model example with 231,336 degrees of freedom. The case studies demonstrate that preserving the underlying Lagrangian structure leads to learned models with higher predictive accuracy and robustness to unseen inputs. |
| title | Data-driven Model Reduction for Soft Robots via Lagrangian Operator Inference |
| topic | Robotics Machine Learning Numerical Analysis |
| url | https://arxiv.org/abs/2407.08840 |