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原文摘要

A purely data-driven method grounded in the theory of adiabatic spectral submanifolds (aSSMs) was recently used to model and control nonlinear soft robotic simulators. Here, we extend the methodology to learn aSSM-reduced models from data collected from hardware soft robotic platforms. Specifically, we learn a five dimensional (5D) aSSM-reduced nonlinear ordinary differential equation (ODE) that accurately models the dynamics of a soft-helicoid trunk robot. We then use this ODE in a model predictive control scheme to demonstrate real-time precision control across various challenging closed-loop trajectory-tracking tasks, ranging from 2D to 3D trajectories with static and dynamic constraints. We find that our methodology enhances accuracy and precision across all control tasks compared to available data-driven linear methods and model-free reinforcement learning. While we focus here on a soft-helicoid trunk robot, our methodology relies solely on hardware data and is therefore applicable to a broader class of soft robotic systems.