79 citations · 92 across the 12 of their papers we have counts for
13 papers
Stabilizing Low-Stiffness Soft Robots at Unstable Equilibria: A Model-Based Optimal Control Approach
Nikhil Nair, Daniele Caradonna, Anup Teejo Mathew +3
Continuum soft robots are highly nonlinear and underactuated systems, which makes stabilizing them around unstable equilibrium points difficult. This challenge becomes even greater…
SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models
Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9
Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control. Their implementations, ho…
Coordinated Manipulation of Hybrid Deformable-Rigid Objects in Constrained Environments
Anees Peringal, Anup Teejo Mathew, Panagiotis liatsis +1
Coordinated robotic manipulation of deformable linear objects (DLOs), such as ropes and cables, has been widely studied; however, handling hybrid assemblies composed of both deform…
Collision Detection with Analytical Derivatives of Contact Kinematics
Anup Teejo Mathew, Anees Peringal, Daniele Caradonna +2
Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smoot…
Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems
Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robo…
Learning User Interaction Forces using Vision for a Soft Finger Exosuit
Mohamed Irfan Refai, Abdulaziz Y. Alkayas, Anup Teejo Mathew +2
Wearable assistive devices are increasingly becoming softer. Modelling their interface with human tissue is necessary to capture transmission of dynamic assistance. However, their…
Dynamic Manipulation of Deformable Objects in 3D: Simulation, Benchmark and Learning Strategy
Guanzhou Lan, Yuqi Yang, Anup Teejo Mathew +5
Goal-conditioned dynamic manipulation is inherently challenging due to complex system dynamics and stringent task constraints, particularly in deformable object scenarios character…
ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration
Anup Teejo Mathew, Daniel Feliu-Talegon, Yusuf Abdullahi Adamu +5
The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine…
Real-time Dynamics of Soft Manipulators with Cross-section Inflation: Application to the Octopus Muscular Hydrostat
Yuchen Sun, Anup Teejo Mathew, Imran Afgan +2
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex…
Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots
Anup Teejo Mathew, Frederic Boyer, Vincent Lebastard +1
Algorithms that use derivatives of governing equations have accelerated rigid robot simulations and improved their accuracy, enabling the modeling of complex, real-world capabiliti…
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization
Abdulaziz Y. Alkayas, Anup Teejo Mathew, Daniel Feliu-Talegon +3
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have rece…
Soft Robots Modeling: a Structured Overview
Costanza Armanini, Frédéric Boyer, Anup Teejo Mathew +2
The robotics community has seen an exponential growth in the level of complexity of the theoretical tools presented for the modeling of soft robotics devices. Different solutions h…
A MATLAB Toolbox for Hybrid Rigid Soft Robots Based on the Geometric Variable Strain Approach
Anup Teejo Mathew, Ikhlas Ben Hmida, Costanza Armanini +2
Soft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limite…