A quadratic manifold derived via perturbation analysis extends the Craig-Bampton method to geometrically nonlinear structures, producing an efficient polynomial reduced-order model via Galerkin projection that preserves Lagrangian structure.
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A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
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Craig-Bampton-based Quadratic Manifold for Nonlinear Substructuring
A quadratic manifold derived via perturbation analysis extends the Craig-Bampton method to geometrically nonlinear structures, producing an efficient polynomial reduced-order model via Galerkin projection that preserves Lagrangian structure.
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Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.