Soft Robot Modeling

The behavior of soft robots is challenging to predict because of their many degrees of freedom and nonlinear material properties. We utilize a combination of physics-based and data-driven techniques to construct models that inform the design and control of real soft robotics systems.

Publications

• D. Bruder, C. D. Remy, and R. Vasudevan. "Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory". IEEE Conference on Robotics and Automation (ICRA). 2019. [link] [bibtex] [video]

• D. Bruder, A. Sedal, R. Vasudevan, and C. D. Remy. "Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators". IEEE Robotics and Automation Letters. 2018. [link] [bibtex]

• D. Bruder, A. Sedal, J. Bishop-Moser, S. Kota, and R. Vasudevan. "Model Based Control of Fiber Reinforced Elastofluidic Enclosures". IEEE Conference on Robotics and Automation (ICRA). 2017. [link] [bibtex] [video]