Journal Papers

• D. Bruder, D. Bombara, R.J. Wood. "A Koopman-based Residual Modeling Approach for the Control of a Soft Robot Arm". The International Journal of Robotics Research. 2024. *accepted
• T. Dai, N. Velimirovic, P. Zalles, D. Bruder, K. Buffinton, R.B. Gillespie, C.D. Remy. "Modeling and Experimental Validation of High-Flow Fluid-Driven Membrane Valves for Hyperactuated Soft Robots". Advanced Intelligent Systems. 2024. [pdf] [bibtex]
• C.D. Remy, Z. Brei, D. Bruder, J. Remy, K. Buffinton, R.B. Gillespie. "The Fluid Jacobian: Modeling force-motion relationships in fluid-driven soft robots". The International Journal of Robotics Research. 2023. [pdf] [bibtex]
• D. Bruder, M. Graule, C. Teeple, R.J. Wood. "Increasing the Payload Capacity of Soft Robot Arms by Localized Stiffening". Science Robotics. 2023. [pdf] [bibtex]
• D. Bruder, R. J. Wood. "The Chain-link Actuator: Exploiting the Bending Stiffness of McKibben Artificial Muscles to Achieve Larger Contraction Ratios". IEEE Robotics and Automation Letters. 2021. [pdf] [bibtex]
• D. Bruder, X. Fu, R. B. Gillespie, C. D. Remy, and R. Vasudevan. "Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions". IEEE Robotics and Automation Letters. 2021. [pdf] [bibtex] [video]
• D. Bruder, X. Fu, and R. Vasudevan. "Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics". IEEE Robotics and Automation Letters. 2021. [pdf] [bibtex] [video]
• D. Bruder, X. Fu, R. B. Gillespie, C. D. Remy, and R. Vasudevan. "Data-driven Control of Soft Robots Using Koopman Operator Theory". IEEE Transactions on Robotics (TRO). 2020. [pdf] [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. [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

• R. Zuo, M. Mehta, D.H. Han, D. Bruder. "Embedded Valves for Distributed Control of Soft Pneumatic Actuators". IEEE International Conference on Intelligent Robots and Systems (IROS). 2024. *accepted
• Y. J. Martin, D. Bruder, R. J. Wood. "A Proprioceptive Method for Soft Robots Using Inertial Measurement Units". IEEE International Conference on Intelligent Robots and Systems (IROS). 2022. [pdf] [bibtex]
• S.M. Danforth, M. Kohler, D. Bruder, A.R. Davis Rabosky, S. Kota, R. Vasudevan, and T.Y. Moore. "Emulating Duration and Curvature of Coral Snake Anti-predator Thrashing Behaviors Using a Soft-robotic Platform". IEEE Conference on Robotics and Automation (ICRA). 2020. [pdf] [bibtex] [video]
• D. Bruder, R.B. Gillespie, C. D. Remy, and 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, and 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

• D. Bruder. "Leveraging Data and the Koopman Operator to Build Control-oriented Models of Soft Robots". Modeling Soft Robots: A Discussion on Capabilites and Limitations of Numerous Techniques. 2020.
• D. Bruder. "Modeling and Control of Soft Robots Using the Koopman Operator". Engineering Research Symposium, University of Michigan. 2019.
• D. Bruder, R. Vasudevan. "Leveraging Data to Model and Control Soft Robots". Robotics: Science and Systems Pioneers. 2019.
• T. Y. Moore, D. Bruder, A. Davis Rabosky, and 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, and C.D. Remy. "Design and Modeling of Soft Robotic Arm Modules". Toyota Research Institute Annual Meeting (poster). 2017.