79 citations · 92 across the 12 of their papers we have counts for
5 papers · 1 filter
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…