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cs.RO2025
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…
cs.RO2022★ 46 cited
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…