Anup Teejo Mathew

Anup Teejo Mathew

Research Scientist, Khalifa University. Robot dynamics, differentiable physics, and hybrid soft-rigid robotics.

Posts by Collection

portfolio

ReSoft Gripper

A reconfigurable soft gripper with monolithic fingers and a differential mechanism for versatile and delicate grasping.

publications

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

Published in IEEE Robotics & Automation Magazine, 2022

Introduces SoRoSim, the publicly available MATLAB toolbox I created for simulation, analysis, and control of hybrid soft-rigid robots using the Geometric Variable-Strain approach.

Recommended citation: Anup Teejo Mathew, Ikhlas Ben Hmida, Costanza Armanini, Frederic Boyer, and Federico Renda. (2022). "SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach." IEEE Robotics & Automation Magazine.
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Reduced Order Modeling of Hybrid Soft-Rigid Robots Using Global, Local, and State-Dependent Strain Parameterization

Published in The International Journal of Robotics Research, 2024

Presents global, local, and state-dependent strain parameterizations for reduced-order modeling of hybrid soft-rigid robots.

Recommended citation: Anup Teejo Mathew, Daniel Feliu-Talegon, Abdulaziz Y. Alkayas, Frederic Boyer, and Federico Renda. (2024). "Reduced Order Modeling of Hybrid Soft-Rigid Robots Using Global, Local, and State-Dependent Strain Parameterization." The International Journal of Robotics Research.
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Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization

Published in IEEE Transactions on Robotics, 2025

Introduces an optimal strain-parameterization approach for model order reduction of hybrid soft-rigid robots.

Recommended citation: Abdulaziz Y. Alkayas, Anup Teejo Mathew, Daniel Feliu-Talegon, Ping Deng, Thomas George Thuruthel, and Federico Renda. (2025). "Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization." IEEE Transactions on Robotics.
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ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration

Published in Soft Robotics, 2025

A multi-flagellum soft underwater drone inspired by bacterial propulsion. Featured on the cover of Soft Robotics (August 2024) and highlighted in New Scientist.

Recommended citation: Anup Teejo Mathew, Daniel Feliu-Talegon, Yusuf Abdullahi Adamu, Ikhlas Ben Hmida, Costanza Armanini, Cesare Stefanini, Lakmal Seneviratne, and Federico Renda. (2025). "ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration." Soft Robotics.
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Analytical Derivatives of Strain-Based Dynamic Model for Hybrid Soft-Rigid Robots

Published in International Journal of Robotics Research, 2025

Derives analytical (closed-form) derivatives of the strain-based dynamic model for hybrid soft-rigid robots, enabling gradient-based simulation, optimal control, and system identification.

Recommended citation: Anup Teejo Mathew, Frederic Boyer, Vincent Lebastard, and Federico Renda. (2025). "Analytical Derivatives of Strain-Based Dynamic Model for Hybrid Soft-Rigid Robots." International Journal of Robotics Research.
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talks

Soft Robotics with SoRoSim Toolbox

Published:

Invited talk introducing the SoRoSim MATLAB toolbox for hybrid rigid-soft robots to the MathWorks EMEA Demo Club, 2024.

teaching

Substitute Instructor

Undergraduate & graduate courses, Khalifa University, Department of Mechanical and Nuclear Engineering, 2020

Substitute instructor for various courses at Khalifa University during the absence of the professor, including Engineering Dynamics, Advanced Dynamics, and Control of Robotic Systems.