8 papers
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…
From Digital to Physical Reservoir Computing: Co-Optimizing Soft Robotic Reservoirs via Dynamics Matching
Nicola Visentin, Maximilian Stölzle, Mariano RamÃrez Montero +3
Soft robotic substrates are promising for Physical Reservoir Computing (PRC) because their compliant nonlinear dynamics can provide temporal memory, high-dimensional state transfor…
Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space
Maximilian Stölzle, Cosimo Della Santina
Even though a variety of methods have been proposed in the literature, efficient and effective latent-space control (i.e., control in a learned low-dimensional space) of physical s…
Symbolic Learning of Interpretable Reduced-Order Models for Jumping Quadruped Robots
Gioele Buriani, Jingyue Liu, Maximilian Stölzle +2
Reduced-order models are central to motion planning and control of quadruped robots, yet existing templates are often hand-crafted for a specific locomotion modality. This motivate…
Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
Kiwan Wong, Maximilian Stölzle, Wei Xiao +3
Robots operating alongside people, particularly in sensitive scenarios such as aiding the elderly with daily tasks or collaborating with workers in manufacturing, must guarantee sa…
Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control
Maximilian Stölzle, Sonal Santosh Baberwal, Daniela Rus +2
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically…