Preprints

• UMArm: Untethered, Modular, Wearable, Soft Pneumatic Arm.
  R. Zuo, D.H. Han, R. Li, S. Jamal, D. Bruder. arXiv. 2025. [link]

Journal Papers

• 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]
• 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]
• 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]
• 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]
• Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators.
  D. Bruder, A. Sedal, R. Vasudevan, and C. D. Remy. IEEE Robotics and Automation Letters. 2018. [link] [bibtex]
• A Continuum Model for Fiber-Reinforced Soft Robot Actuators.
  A. Sedal, D. Bruder, J. Bishop-Moser, R. Vasudevan, and S. Kota. Journal of Mechanisms and Robotics. 2018. [link] [bibtex]

Conference Papers

• 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]
• 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]
• 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]
• 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 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 Control of Fiber Reinforced Elastofluidic Enclosures.
  D. Bruder, A. Sedal, J. Bishop-Moser, S. Kota, and R. Vasudevan. IEEE Conference on Robotics and Automation (ICRA). 2017. [link] [bibtex] [video]
• A Constitutive Model for Torsional Loads on Fluid-Driven Soft Robots .
  A. Sedal, D. Bruder, J. Bishop-Moser, R. Vasudevan, and S. Kota. ASME International Design Engineering Technical Conferences (IDETC). 2017. [link] [bibtex]