{"id":"https://openalex.org/W4401416750","doi":"https://doi.org/10.1109/icra57147.2024.10610880","title":"A Data-Driven Approach to Geometric Modeling of Systems with Low-Bandwidth Actuator Dynamics","display_name":"A Data-Driven Approach to Geometric Modeling of Systems with Low-Bandwidth Actuator Dynamics","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416750","doi":"https://doi.org/10.1109/icra57147.2024.10610880"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610880","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033047729","display_name":"Siming Deng","orcid":"https://orcid.org/0000-0003-3111-8629"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siming Deng","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043185748","display_name":"Junning Liu","orcid":"https://orcid.org/0000-0003-0844-4071"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junning Liu","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047548021","display_name":"Bibekananda Datta","orcid":"https://orcid.org/0000-0003-1466-1689"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bibekananda Datta","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075221158","display_name":"Aishwarya Pantula","orcid":"https://orcid.org/0000-0002-2516-3485"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aishwarya Pantula","raw_affiliation_strings":["Johns Hopkins University,Department of Chemical and Biomolecular Engineering,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Chemical and Biomolecular Engineering,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039204242","display_name":"David H. Gracias","orcid":"https://orcid.org/0000-0003-2735-4725"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David H. Gracias","raw_affiliation_strings":["Johns Hopkins University,Department of Chemical and Biomolecular Engineering,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Chemical and Biomolecular Engineering,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049804356","display_name":"Thao D. Nguyen","orcid":"https://orcid.org/0000-0002-0312-1583"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thao D. Nguyen","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017155907","display_name":"Brian Bittner","orcid":"https://orcid.org/0000-0001-8694-4317"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian A. Bittner","raw_affiliation_strings":["Johns Hopkins University Applied Physics Lab,Laurel,MD,USA,97331"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University Applied Physics Lab,Laurel,MD,USA,97331","institution_ids":["https://openalex.org/I2802946424","https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071685265","display_name":"Noah J. Cowan","orcid":"https://orcid.org/0000-0003-2502-3770"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Noah J. Cowan","raw_affiliation_strings":["Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Laboratory for Computational Sensing and Robotics,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14988","last_page":"14994"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7696390151977539},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.6300184726715088},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6158502697944641},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4919988811016083},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.46529898047447205},{"id":"https://openalex.org/keywords/geometric-modeling","display_name":"Geometric modeling","score":0.4557889699935913},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44276097416877747},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3235318660736084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1729600429534912},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16835054755210876},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14235594868659973},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.13111528754234314},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.12412148714065552},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1144132912158966},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09983822703361511}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7696390151977539},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.6300184726715088},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6158502697944641},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4919988811016083},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.46529898047447205},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.4557889699935913},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44276097416877747},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3235318660736084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1729600429534912},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16835054755210876},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14235594868659973},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.13111528754234314},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.12412148714065552},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1144132912158966},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09983822703361511}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610880","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W281848590","https://openalex.org/W1586997758","https://openalex.org/W1647490791","https://openalex.org/W1966086223","https://openalex.org/W1973584767","https://openalex.org/W1985161922","https://openalex.org/W1995346557","https://openalex.org/W2025613329","https://openalex.org/W2032414067","https://openalex.org/W2056370235","https://openalex.org/W2057631767","https://openalex.org/W2156218502","https://openalex.org/W2162621498","https://openalex.org/W2335171300","https://openalex.org/W2473249906","https://openalex.org/W2591485004","https://openalex.org/W2735411003","https://openalex.org/W2788030459","https://openalex.org/W2800319485","https://openalex.org/W2880513838","https://openalex.org/W2884237205","https://openalex.org/W2892188303","https://openalex.org/W2947527046","https://openalex.org/W3010768390","https://openalex.org/W3020883398","https://openalex.org/W3185031264","https://openalex.org/W3212417301","https://openalex.org/W4224084185","https://openalex.org/W4244367163","https://openalex.org/W4292408540","https://openalex.org/W4294817433","https://openalex.org/W4311456774","https://openalex.org/W4312355807"],"related_works":["https://openalex.org/W4211139642","https://openalex.org/W2181721856","https://openalex.org/W2381418473","https://openalex.org/W2025879371","https://openalex.org/W2032986081","https://openalex.org/W1502305485","https://openalex.org/W826886275","https://openalex.org/W326831310","https://openalex.org/W4211080513","https://openalex.org/W2227085772"],"abstract_inverted_index":{"It":[0],"is":[1,166],"challenging":[2],"to":[3,11,38,93,131,168,179],"perform":[4],"system":[5,115],"identification":[6],"on":[7,26,62],"soft":[8],"robots":[9,94],"due":[10],"their":[12],"underactuated,":[13],"high-dimensional":[14],"dynamics.":[15],"In":[16],"this":[17],"work,":[18],"we":[19,84,152],"present":[20],"a":[21,51,86,121,132],"data-driven":[22],"modeling":[23],"framework,":[24],"based":[25,61],"geometric":[27],"mechanics":[28],"(also":[29],"known":[30],"as":[31],"gauge":[32],"theory)":[33],"that":[34,88,136,143],"can":[35,89],"be":[36,90],"applied":[37,91,167],"systems":[39,81],"with":[40,82,95],"low-bandwidth":[41],"control":[42,159],"of":[43,53,78,113,120,140,156],"the":[44,111,114,138,170,174],"system\u2019s":[45],"internal":[46],"configuration.":[47],"This":[48,177],"method":[49,87],"constructs":[50],"series":[52],"connected":[54,73],"models":[55,74,108],"comprising":[56],"actuator":[57,98],"and":[58,117,189],"locomotor":[59,187],"dynamics":[60,112],"data":[63],"points":[64],"from":[65,75],"stochastically":[66],"perturbed,":[67],"repeated":[68],"behaviors.":[69],"By":[70],"deriving":[71],"these":[72],"general":[76],"formulations":[77],"dissipative":[79],"Lagrangian":[80],"symmetry,":[83],"offer":[85],"broadly":[92],"first-order,":[96],"low-pass":[97],"dynamics,":[99],"including":[100],"swelling-driven":[101],"actuators":[102],"used":[103],"in":[104,147,186],"hydrogel":[105,134,175],"crawlers.":[106],"These":[107],"accurately":[109],"capture":[110],"shape":[116,145],"body":[118],"movements":[119],"simplified":[122],"swimming":[123],"robot":[124],"model.":[125],"We":[126],"further":[127],"apply":[128],"our":[129],"approach":[130,155],"stimulus-responsive":[133],"simulator":[135],"captures":[137],"complexity":[139],"chemomechanical":[141],"interactions":[142],"drive":[144],"changes":[146],"biomedically":[148],"relevant":[149],"micromachines.":[150],"Finally,":[151],"propose":[153],"an":[154],"numerically":[157],"optimizing":[158],"signals":[160],"by":[161],"iteratively":[162],"refining":[163],"models,":[164],"which":[165],"optimize":[169],"input":[171],"waveform":[172],"for":[173,184],"crawler.":[176],"transfer":[178],"realistic":[180],"environments":[181],"provides":[182],"promise":[183],"applications":[185],"design":[188],"biomedical":[190],"engineering.":[191]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}