76 citations · 164 across the 14 of their papers we have counts for
4 papers · 1 filter
Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs
Stephan-Daniel Gravert, Mike Y. Michelis, Simon Rogler +3
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve o…
Fast Aquatic Swimmer Optimization with Differentiable Projective Dynamics and Neural Network Hydrodynamic Models
Elvis Nava, John Z. Zhang, Mike Y. Michelis +5
Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier…
Physics-constrained Unsupervised Learning of Partial Differential Equations using Meshes
Mike Y. Michelis, Robert K. Katzschmann
Enhancing neural networks with knowledge of physical equations has become an efficient way of solving various physics problems, from fluid flow to electromagnetism. Graph neural ne…
Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuation
Mathieu Dubied, Mike Michelis, Andrew Spielberg +1
An accurate, physically-based, and differentiable model of soft robots can unlock downstream applications in optimal control. The Finite Element Method (FEM) is an expressive appro…