<div dir="ltr"><div dir="ltr"><div class="gmail_default" style="font-size:small"><div class="gmail_default" style="color:rgb(80,0,80)"><div class="gmail_default"><p style="font-variant-numeric:normal;font-variant-east-asian:normal;font-stretch:normal;line-height:normal;margin:0px"><font face="arial, sans-serif" color="#000000"><font style="vertical-align:inherit"><font style="vertical-align:inherit"><b>When:</b> </font></font><font style="vertical-align:inherit"><font style="vertical-align:inherit"> Monday, January 31st at<b> <span style="background-color:rgb(255,255,0)">11:30 am CT</span></b></font></font><br></font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif" color="#000000"> </font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif"><font style="color:rgb(0,0,0);vertical-align:inherit"><font style="vertical-align:inherit"><b>Where:</b> </font></font><font color="#000000">Zoom Virtual Talk (</font><font color="#0000ff"><b><a href="https://uchicagogroup.zoom.us/webinar/register/WN_hkwi_poGQOq3znZQgG7bBg" target="_blank">register in advance here</a></b></font><font color="#000000">)</font></font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><br></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif"><font style="vertical-align:inherit"><font style="vertical-align:inherit"><font color="#000000"><b>Who: </b> </font><font color="#500050"> </font><font color="#000000"> </font></font></font></font>Daniel Bruder, Harvard University</p></div><div class="gmail_default"><b style="font-size:13px;font-family:arial,sans-serif;color:rgb(0,0,0)"><br></b></div><div class="gmail_default"><b style="font-size:13px;font-family:arial,sans-serif"><font color="#000000"><br></font></b></div><div class="gmail_default"><div dir="ltr"><font color="#000000" face="arial, sans-serif"><b>Title</b>: Towards Highly Capable Soft Robots<br><br><b>Abstract</b>:<br>Soft robots have been an active area of research in the robotics community due to their versatility and ability to safely interact with their environment. However, despite their potential advantages, their real-world applications have been limited due to the difficulty involved in modeling and controlling soft robotic systems. In this talk, I’ll describe two modeling approaches aimed at overcoming the limitations of previous methods. The first is a physics-based approach for fluid-driven actuators that offers predictions in terms of tunable geometrical parameters, making it a valuable tool in the design of soft fluid-driven robotic systems. The second is a data-driven approach that leverages Koopman operator theory to construct models that are linear, which enables the utilization of linear control techniques for nonlinear dynamical systems like soft robots. Using this Koopman-based approach, a pneumatically actuated soft arm was able to autonomously perform manipulation tasks such as trajectory following and pick-and-place with a variable payload without undergoing any task-specific training. In the future, these approaches could offer a paradigm for designing and controlling all soft robotic systems, leading to their more widespread adoption in real-world applications.</font></div><div dir="ltr"><font face="arial, sans-serif"><br style="color:rgb(34,34,34)"></font></div></div><div class="gmail_default"><br></div><div class="gmail_default"><font face="arial, sans-serif"><b>Host:</b> <b><font color="#0000ff"><a href="mailto:mwalter@ttic.edu" target="_blank">Matthew Walter</a></font></b></font></div><br></div><div class="gmail_default" style="color:rgb(80,0,80)">\</div></div><div><div dir="ltr" class="gmail_signature" data-smartmail="gmail_signature"><div dir="ltr"><div><span style="font-family:arial,helvetica,sans-serif;font-size:x-small">Mary C. Marre</span><br></div><div><div><font face="arial, helvetica, sans-serif" size="1">Faculty Administrative Support</font></div><div><i><font face="arial, helvetica, sans-serif" color="#3d85c6" size="1"><b>Toyota Technological Institute</b></font></i></div><div><i><font face="arial, helvetica, sans-serif" color="#3d85c6" size="1">6045 S. Kenwood Avenue</font></i></div><div><font size="1"><i><font face="arial, helvetica, sans-serif" color="#3d85c6">Chicago, IL 60637</font></i><br></font></div><div><b><i><a href="mailto:mmarre@ttic.edu" target="_blank"><font face="arial, helvetica, sans-serif" size="1">mmarre@ttic.edu</font></a></i></b></div></div></div></div></div><br></div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">On Mon, Jan 31, 2022 at 10:42 AM Mary Marre <<a href="mailto:mmarre@ttic.edu">mmarre@ttic.edu</a>> wrote:<br></div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div dir="ltr"><div dir="ltr"><div style="font-size:small"><div><p style="color:rgb(80,0,80);font-variant-numeric:normal;font-variant-east-asian:normal;font-stretch:normal;line-height:normal;margin:0px"><font face="arial, sans-serif" color="#000000"><font style="vertical-align:inherit"><font style="vertical-align:inherit"><b>When:</b> </font></font><font style="vertical-align:inherit"><font style="vertical-align:inherit"> Monday, January 31st at<b> <span style="background-color:rgb(255,255,0)">11:30 am CT</span></b></font></font><br></font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif" color="#000000"> </font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif"><font style="color:rgb(0,0,0);vertical-align:inherit"><font style="vertical-align:inherit"><b>Where:</b> </font></font><font color="#000000">Zoom Virtual Talk (</font><font color="#0000ff"><b><a href="https://uchicagogroup.zoom.us/webinar/register/WN_hkwi_poGQOq3znZQgG7bBg" target="_blank">register in advance here</a></b></font><font color="#000000">)</font></font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><br></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif" style="color:rgb(80,0,80)"><font style="vertical-align:inherit"><font style="vertical-align:inherit"><font color="#000000"><b>Who: </b> </font><font color="#500050"> </font><font color="#000000"> </font></font></font></font>Daniel Bruder, Harvard University</p></div><div style="color:rgb(80,0,80)"><b style="font-size:13px;font-family:arial,sans-serif;color:rgb(0,0,0)"><br></b></div><div><b style="font-size:13px;font-family:arial,sans-serif"><font color="#000000"><br></font></b></div><div><div dir="ltr"><font color="#000000" face="arial, sans-serif"><b>Title</b>: Towards Highly Capable Soft Robots<br><br><b>Abstract</b>:<br>Soft robots have been an active area of research in the robotics community due to their versatility and ability to safely interact with their environment. However, despite their potential advantages, their real-world applications have been limited due to the difficulty involved in modeling and controlling soft robotic systems. In this talk, I’ll describe two modeling approaches aimed at overcoming the limitations of previous methods. The first is a physics-based approach for fluid-driven actuators that offers predictions in terms of tunable geometrical parameters, making it a valuable tool in the design of soft fluid-driven robotic systems. The second is a data-driven approach that leverages Koopman operator theory to construct models that are linear, which enables the utilization of linear control techniques for nonlinear dynamical systems like soft robots. Using this Koopman-based approach, a pneumatically actuated soft arm was able to autonomously perform manipulation tasks such as trajectory following and pick-and-place with a variable payload without undergoing any task-specific training. In the future, these approaches could offer a paradigm for designing and controlling all soft robotic systems, leading to their more widespread adoption in real-world applications.</font></div><div dir="ltr" style="color:rgb(80,0,80)"><font face="arial, sans-serif"><br style="color:rgb(34,34,34)"></font></div></div><div style="color:rgb(80,0,80)"><br></div><div style="color:rgb(80,0,80)"><font face="arial, sans-serif"><b>Host:</b> <b><font color="#0000ff"><a href="mailto:mwalter@ttic.edu" target="_blank">Matthew Walter</a></font></b></font></div><br></div><div style="font-size:small">\</div><div style="font-size:small"><br></div><div><div dir="ltr"><div dir="ltr"><div><span style="font-family:arial,helvetica,sans-serif;font-size:x-small">Mary C. Marre</span><br></div><div><div><font face="arial, helvetica, sans-serif" size="1">Faculty Administrative Support</font></div><div><i><font face="arial, helvetica, sans-serif" color="#3d85c6" size="1"><b>Toyota Technological Institute</b></font></i></div><div><i><font face="arial, helvetica, sans-serif" color="#3d85c6" size="1">6045 S. Kenwood Avenue</font></i></div><div><font size="1"><i><font face="arial, helvetica, sans-serif" color="#3d85c6">Chicago, IL 60637</font></i><br></font></div><div><b><i><a href="mailto:mmarre@ttic.edu" target="_blank"><font face="arial, helvetica, sans-serif" size="1">mmarre@ttic.edu</font></a></i></b></div></div></div></div></div><br></div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">On Sun, Jan 30, 2022 at 3:01 PM Mary Marre <<a href="mailto:mmarre@ttic.edu" target="_blank">mmarre@ttic.edu</a>> wrote:<br></div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div dir="ltr"><div dir="ltr"><div style="font-size:small"><div><div><p style="color:rgb(80,0,80);font-variant-numeric:normal;font-variant-east-asian:normal;font-stretch:normal;line-height:normal;margin:0px"><font face="arial, sans-serif" color="#000000"><font style="vertical-align:inherit"><font style="vertical-align:inherit"><b>When:</b> </font></font><font style="vertical-align:inherit"><font style="vertical-align:inherit"> Monday, January 31st at<b> <span style="background-color:rgb(255,255,0)">11:30 am CT</span></b></font></font><br></font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif" color="#000000"> </font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif"><font style="color:rgb(0,0,0);vertical-align:inherit"><font style="vertical-align:inherit"><b>Where:</b> </font></font><font color="#000000">Zoom Virtual Talk (</font><font color="#0000ff"><b><a href="https://uchicagogroup.zoom.us/webinar/register/WN_hkwi_poGQOq3znZQgG7bBg" target="_blank">register in advance here</a></b></font><font color="#000000">)</font></font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><br></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif" style="color:rgb(80,0,80)"><font style="vertical-align:inherit"><font style="vertical-align:inherit"><font color="#000000"><b>Who: </b> </font><font color="#500050"> </font><font color="#000000"> </font></font></font></font>Daniel Bruder, Harvard University</p></div><div style="color:rgb(80,0,80)"><b style="font-size:13px;font-family:arial,sans-serif;color:rgb(0,0,0)"><br></b></div><div><b style="font-size:13px;font-family:arial,sans-serif"><font color="#000000"><br></font></b></div><div><div dir="ltr"><font color="#000000" face="arial, sans-serif"><b>Title</b>: Towards Highly Capable Soft Robots<br><br><b>Abstract</b>:<br>Soft robots have been an active area of research in the robotics community due to their versatility and ability to safely interact with their environment. However, despite their potential advantages, their real-world applications have been limited due to the difficulty involved in modeling and controlling soft robotic systems. In this talk, I’ll describe two modeling approaches aimed at overcoming the limitations of previous methods. The first is a physics-based approach for fluid-driven actuators that offers predictions in terms of tunable geometrical parameters, making it a valuable tool in the design of soft fluid-driven robotic systems. The second is a data-driven approach that leverages Koopman operator theory to construct models that are linear, which enables the utilization of linear control techniques for nonlinear dynamical systems like soft robots. Using this Koopman-based approach, a pneumatically actuated soft arm was able to autonomously perform manipulation tasks such as trajectory following and pick-and-place with a variable payload without undergoing any task-specific training. In the future, these approaches could offer a paradigm for designing and controlling all soft robotic systems, leading to their more widespread adoption in real-world applications.</font></div><div dir="ltr" style="color:rgb(80,0,80)"><font face="arial, sans-serif"><br style="color:rgb(34,34,34)"></font></div></div><div style="color:rgb(80,0,80)"><br></div><div style="color:rgb(80,0,80)"><font face="arial, sans-serif"><b>Host:</b> <b><font color="#0000ff"><a href="mailto:mwalter@ttic.edu" target="_blank">Matthew Walter</a></font></b></font></div><br></div><div><br></div><div><br></div><div><br></div></div><div><div dir="ltr"><div dir="ltr"><div><span style="font-family:arial,helvetica,sans-serif;font-size:x-small">Mary C. Marre</span><br></div><div><div><font face="arial, helvetica, sans-serif" size="1">Faculty Administrative Support</font></div><div><i><font face="arial, helvetica, sans-serif" color="#3d85c6" size="1"><b>Toyota Technological Institute</b></font></i></div><div><i><font face="arial, helvetica, sans-serif" color="#3d85c6" size="1">6045 S. Kenwood Avenue</font></i></div><div><font size="1"><i><font face="arial, helvetica, sans-serif" color="#3d85c6">Chicago, IL 60637</font></i><br></font></div><div><b><i><a href="mailto:mmarre@ttic.edu" target="_blank"><font face="arial, helvetica, sans-serif" size="1">mmarre@ttic.edu</font></a></i></b></div></div></div></div></div><br></div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">On Mon, Jan 24, 2022 at 5:11 PM Mary Marre <<a href="mailto:mmarre@ttic.edu" target="_blank">mmarre@ttic.edu</a>> wrote:<br></div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left:1px solid rgb(204,204,204);padding-left:1ex"><div dir="ltr"><div><div><div style="font-size:small"><p style="color:rgb(80,0,80);font-variant-numeric:normal;font-variant-east-asian:normal;font-stretch:normal;line-height:normal;margin:0px"><font face="arial, sans-serif" color="#000000"><font style="vertical-align:inherit"><font style="vertical-align:inherit"><b>When:</b> </font></font><font style="vertical-align:inherit"><font style="vertical-align:inherit"> Monday, January 31st at<b> <span style="background-color:rgb(255,255,0)">11:30 am CT</span></b></font></font><br></font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif" color="#000000"> </font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif"><font style="color:rgb(0,0,0);vertical-align:inherit"><font style="vertical-align:inherit"><b>Where:</b> </font></font><font color="#000000">Zoom Virtual Talk (</font><font color="#0000ff"><b><a href="https://uchicagogroup.zoom.us/webinar/register/WN_hkwi_poGQOq3znZQgG7bBg" target="_blank">register in advance here</a></b></font><font color="#000000">)</font></font></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;color:rgb(80,0,80);line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><br></p><p class="MsoNormal" style="margin:0in 0in 0.0001pt;line-height:normal;background-image:initial;background-position:initial;background-size:initial;background-repeat:initial;background-origin:initial;background-clip:initial"><font face="arial, sans-serif" style="color:rgb(80,0,80)"><font style="vertical-align:inherit"><font style="vertical-align:inherit"><font color="#000000"><b>Who: </b> </font><font color="#500050"> </font><font color="#000000"> </font></font></font></font>Daniel Bruder, Harvard University</p></div><div style="font-size:small;color:rgb(80,0,80)"><b style="font-size:13px;font-family:arial,sans-serif;color:rgb(0,0,0)"><br></b></div><div style="font-size:small"><b style="font-size:13px;font-family:arial,sans-serif"><font color="#000000"><br></font></b></div><div><div dir="ltr"><font color="#000000" face="arial, sans-serif"><b>Title</b>: Towards Highly Capable Soft Robots<br><br><b>Abstract</b>:<br>Soft robots have been an active area of research in the robotics community due to their versatility and ability to safely interact with their environment. However, despite their potential advantages, their real-world applications have been limited due to the difficulty involved in modeling and controlling soft robotic systems. In this talk, I’ll describe two modeling approaches aimed at overcoming the limitations of previous methods. The first is a physics-based approach for fluid-driven actuators that offers predictions in terms of tunable geometrical parameters, making it a valuable tool in the design of soft fluid-driven robotic systems. The second is a data-driven approach that leverages Koopman operator theory to construct models that are linear, which enables the utilization of linear control techniques for nonlinear dynamical systems like soft robots. Using this Koopman-based approach, a pneumatically actuated soft arm was able to autonomously perform manipulation tasks such as trajectory following and pick-and-place with a variable payload without undergoing any task-specific training. In the future, these approaches could offer a paradigm for designing and controlling all soft robotic systems, leading to their more widespread adoption in real-world applications.</font></div><div dir="ltr" style="color:rgb(80,0,80)"><font face="arial, sans-serif"><br style="color:rgb(34,34,34)"></font></div></div><div style="font-size:small;color:rgb(80,0,80)"><br></div><div style="font-size:small;color:rgb(80,0,80)"><font face="arial, sans-serif"><b>Host:</b> <b><font color="#0000ff"><a href="mailto:mwalter@ttic.edu" target="_blank">Matthew Walter</a></font></b></font></div><br></div><div style="font-size:small"><br></div><div style="font-size:small"><br></div><div style="font-size:small"><br></div></div><div><div dir="ltr"><div dir="ltr"><div><span style="font-family:arial,helvetica,sans-serif;font-size:x-small">Mary C. Marre</span><br></div><div><div><font face="arial, helvetica, sans-serif" size="1">Faculty Administrative Support</font></div><div><i><font face="arial, helvetica, sans-serif" color="#3d85c6" size="1"><b>Toyota Technological Institute</b></font></i></div><div><i><font face="arial, helvetica, sans-serif" color="#3d85c6" size="1">6045 S. Kenwood Avenue</font></i></div><div><font size="1"><i><font face="arial, helvetica, sans-serif" color="#3d85c6">Chicago, IL 60637</font></i><br></font></div><div><b><i><a href="mailto:mmarre@ttic.edu" target="_blank"><font face="arial, helvetica, sans-serif" size="1">mmarre@ttic.edu</font></a></i></b></div></div></div></div></div></div>
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