9 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…
A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
Francesco Stella, Annan Zhang, Cosimo Della Santina +2
Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains chall…
A Closed-Form CLF-CBF Controller for Whole-Body Continuum Soft Robot Collision Avoidance
Kiwan Wong, Maximillian Stölzle, Wei Xiao +1
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still requ…
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…