Author

M. Y. Michelis

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Preprint Sep 2026

Orientation Control of Soft Robots via Adiabatic Spectral Submanifolds

Soft robots are commonly sought for safety-critical interactions in delicate environments, where accurate position and orientation control is imperative. Model predictive control (MPC) offers a solution, but it requires a model of the robot's infinite-dimensional nonlinear dynamics that is at once accurate and computat...

Aron Karakai, Roshan S. Kaundinya, M. Y. Michelis et al. · 0 citations

Preprint Sep 2026

All You Need Is Low Fidelity: Zero-Shot Sim-to-Real of Learned Robotic Fish Control

Complex tasks for underwater robots remain limited by the capabilities of their controllers. Learning a better one for a soft, underactuated robotic fish trades simulator cost against fidelity. We show that an intentionally low-fidelity simulator is enough: a stateless, quasi-steady fluid model with no wake and no adde...

Liam Maloney, Simon Ramchandani, M. Y. Michelis et al. · 0 citations