Publications


Journal Papers

  • 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. [pdf] [bibtex]
  • A. Sedal, D. Bruder, J. Bishop-Moser, R. Vasudevan, and S. Kota. "A Continuum Model for Fiber-Reinforced Soft Robot Actuators". Journal of Mechanisms and Robotics. 2018. [pdf] [bibtex]

Conference Papers

  • D. Bruder, R.B. Gillespie, C. D. Remy, R. Vasudevan. "Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control". Robotics: Science and Systems. 2019. [pdf] [bibtex] [video] *Best Systems Paper Finalist, Best Student Paper Finalist
  • D. Bruder, C. D. Remy, R. Vasudevan. "Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory". IEEE Conference on Robotics and Automation (ICRA). 2019. [pdf] [bibtex] [video]
  • 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. [pdf] [bibtex] [video]
  • A. Sedal, D. Bruder, J. Bishop-Moser, R. Vasudevan, and S. Kota. "A Constitutive Model for Torsional Loads on Fluid-Driven Soft Robots ". ASME International Design Engineering Technical Conferences (IDETC). 2017. [pdf] [bibtex]

Workshop and Meeting Presentations

  • T. Y. Moore, D. Bruder, A. Davis Rabosky, R. Vasudeven. "Decoupling Coupled Anti-Predator Signals with a Bio-Inspired Snake Robot". Society for Integrative and Comparative Biology Annual Meeting. 2019.
  • D. Bruder, A. Sedal, R. Vasudevan, and C. D. Remy. "Model-Based Method for Estimating the Workspace of Soft Manipulators". Workshop on Soft Robot Modeling and Control at IROS. 2018.
  • D. Bruder, A. Sedal, R. Vasudevan, and C. D. Remy. "Model-Based Control of Parallel Combinations of Soft Actuators". Midwest Robotics Workshop (poster). 2018.
  • R. B. Gillespie, C. D. Remy, D. Bruder, A. Sedal. "Don't Bite the Hand that Feeds You: Soft Robots For Eldercare". Toyota Research Institute Annual Meeting. 2018.
  • D. Bruder, A. Sedal, J. Bishop-Moser, S. Kota, and R. Vasudevan. "Model Based Control of Fiber Reinforced Elastofluidic Enclosures". Midwest Robotics Workshop (poster). 2017.
  • D. Bruderd, R. Vasudevan, C.D. Remy. "Design and Modeling of Soft Robotic Arm Modules". Toyota Research Institute Annual Meeting (poster). 2017.