Publications
- Koopmen Operators in Robot Learning. L. Shi, M. Haseli, G. Mamakoukas, D. Bruder, I. Abraham, T. Murphey, J. Cortes, K. Karydis. IEEE Transactions on Robotics (TRO). 2026. [link] [bibtex]
- Proprioceptive Origami Sleeves Using Embedded Fold Sensors. S. Jamal, R. Zheng, D. Bruder. IEEE-RAS International Conference on Soft Robotics (RoboSoft) (accepted). 2026.
- Hybrid Membrane-Solenoid Valves for High-Flow, Precisely Controlled Soft Robotic Actuation. N. Velimirovic, C. D. Remy, D. Bruder. IEEE Conference on Robotics and Automation (ICRA) (accepted). 2026.
- A High-Payload Wall-Climbing Robot Using Passive Bistable Suction Cups. A. Nguyen, M. Li, D. Bruder. IEEE Conference on Robotics and Automation (ICRA) (accepted). 2026. [video]
- UMArm: Untethered, Modular, Wearable, Soft Pneumatic Arm. R. Zuo, D.H. Han, R. Li, S. Jamal, D. Bruder. arXiv. 2025. [link]
- A Variable-Stiffness Robotic Link Based on Rotating-Rectangle Auxetic Structures for Safe Human-Robot Interaction. Y. Ma, D. Bruder. IEEE Robotics and Automation Letters. 2025. [link] [video]
- A Koopman-based Residual Modeling Approach for the Control of a Soft Robot Arm. D. Bruder, D. Bombara, R.J. Wood. International Journal of Robotics Research (IJRR). 2024. [link] [video]
- Embedded Valves for Distributed Control of Soft Pneumatic Actuators. R. Zuo, M. Mehta, D.H. Han, D. Bruder. IEEE International Conference on Intelligent Robots and Systems (IROS). 2024. [link] [bibtex] [video]
- The Fluid Jacobian: Modeling force-motion relationships in fluid-driven soft robots. C.D. Remy, Z. Brei, D. Bruder, J. Remy, K. Buffinton, R.B. Gillespie. The International Journal of Robotics Research. 2023. [link] [bibtex]
- Increasing the Payload Capacity of Soft Underactuated Robot Arms via Selective Joint Stiffening. D. Bruder, M. Graule, C. Teeple, R.J. Wood. Science Robotics. 2023. [link] [bibtex] [video]
- A Proprioceptive Method for Soft Robots using Inertial Measurement Units. Y.J. Martin, D. Bruder, R.J. Wood. IEEE International Conference on Intelligent Robots and Systems (IROS). 2022. [link]
- The Chain-link Actuator: Exploiting the Bending Stiffness of McKibben Artificial Muscles to Achieve Larger Contraction Ratios. D. Bruder, R. J. Wood. IEEE Robotics and Automation Letters. 2021. [link] [bibtex]
- Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions. D. Bruder, X. Fu, R. B. Gillespie, C. D. Remy, and R. Vasudevan. IEEE Robotics and Automation Letters. 2021. [link] [bibtex] [video]
- Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics. D. Bruder, X. Fu, and R. Vasudevan. IEEE Robotics and Automation Letters. 2021. [link] [bibtex] [video]
- Data-driven Control of Soft Robots Using Koopman Operator Theory. D. Bruder, X. Fu, R. B. Gillespie, C. D. Remy, and R. Vasudevan. IEEE Transactions on Robotics (TRO). 2020. [link] [bibtex] [video]
- Leveraging Data and the Koopman Operator to Build Control-oriented Models of Soft Robots. D. Bruder. Modeling Soft Robots: A Discussion on Capabilites and Limitations of Numerous Techniques. 2020.
- Emulating Duration and Curvature of Coral Snake Anti-predator Thrashing Behaviors Using a Soft-robotic Platform. S.M. Danforth, M. Kohler, D. Bruder, A.R. Davis Rabosky, S. Kota, R. Vasudevan, and T.Y. Moore. IEEE Conference on Robotics and Automation (ICRA). 2020. [link] [bibtex] [video]
- Modeling and Control of Soft Robots Using the Koopman Operator. D. Bruder. Engineering Research Symposium, University of Michigan. 2019.
- Leveraging Data to Model and Control Soft Robots. D. Bruder, R. Vasudevan. Robotics: Science and Systems Pioneers. 2019.
- Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control. D. Bruder, R.B. Gillespie, C. D. Remy, and R. Vasudevan. Robotics: Science and Systems. 2019. [link] [bibtex] [video] *Best Systems Paper Finalist, Best Student Paper Finalist
- Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory. D. Bruder, C. D. Remy, and R. Vasudevan. IEEE Conference on Robotics and Automation (ICRA). 2019. [link] [bibtex] [video]
- Model-Based Method for Estimating the Workspace of Soft Manipulators. D. Bruder, A. Sedal, R. Vasudevan, and C. D. Remy. Workshop on Soft Robot Modeling and Control at IROS. 2018.
- Model-Based Control of Parallel Combinations of Soft Actuators. D. Bruder, A. Sedal, R. Vasudevan, and C. D. Remy. Midwest Robotics Workshop (poster). 2018.