46 citations · 46 across the 3 of their papers we have counts for
3 papers
AquaROM: shape optimization pipeline for soft swimmers using parametric reduced order models
Mathieu Dubied, Paolo Tiso, Robert K. Katzschmann
The efficient optimization of actuated soft structures, particularly under complex nonlinear forces, remains a critical challenge in advancing robotics. Simulations of nonlinear st…
A robust and adaptive MPC formulation for Gaussian process models
Mathieu Dubied, Amon Lahr, Melanie N. Zeilinger +1
In this paper, we present a robust and adaptive model predictive control (MPC) framework for uncertain nonlinear systems affected by bounded disturbances and unmodeled nonlineariti…
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…