Author

D. Feliú-Talegon

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#robotics Preprint Aug 2026

SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models

Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control. Their implementations, however, do not support the differentiable, GPU-parallel, and control-oriented workflows that underpin advanced rigid-robotics applications. H...

Maximilian Stölzle, Solange Gribonval, D. Feliú-Talegon et al. · 1 citation

Preprint Sep 2026

Collocated Shape Regulation for Soft Robots

Controlling the shape of a continuum soft robot typically requires an accurate dynamic model and actuation of all degrees of freedom. We show that regulating only the actuated coordinates, through collocated shape control, achieves provably stable convergence of those coordinates and, under an explicit compatibility co...

Pietro Pustina, E. Shahabi, D. Feliú-Talegon et al. · 0 citations