CV
Focused on fundamental problems in robotics — modeling, dynamics, contact, and motion planning. I develop differentiable physics and geometry-based optimization methods that enable scalable control, planning, and real-time autonomy for rigid, deformable, and hybrid robots.
Career progression
- Research Scientist, Department of Mechanical and Nuclear Engineering, Khalifa University (KU), Abu Dhabi, UAE — July 2025–Present
- Postdoctoral Research Fellow, Department of Mechanical and Nuclear Engineering, Khalifa University (KU), Abu Dhabi, UAE — Feb 2020–June 2025
Education
- Ph.D. in Mechanical Engineering, National University of Singapore (NUS), Singapore, Aug 2015–Oct 2019
- B.S. in Mechanical Engineering (Honors), minor in Physics, Indian Institute of Technology Hyderabad (IITH), Aug 2011–Apr 2015 (CGPA 9.61/10)
Research experience and academic projects
Robot Dynamics, Geometric Mechanics, and Differentiable Physics Engines (Jan 2021–Present)
- Developed and advanced the Geometric Variable Strain (GVS) framework, unifying rigid-body screw theory with strain-based Cosserat rod mechanics for deformable bodies. Derived efficient dynamics algorithms with analytical derivatives of the governing equations, enabling gradient-based simulation, optimal control, system identification, and design of rigid, soft, and hybrid robotic systems.
- Created SoRoSim, a publicly available modular MATLAB® toolbox for simulation, analysis, and control of hybrid soft–rigid robots. Currently leading development of SoRoSim++, a C++ differentiable physics engine for real-time simulation, contact-rich dynamics, and learning-based robotics applications.
Soft Robotics Applications (Feb 2020–Present)
- Led and contributed to the design, modeling, and experimental validation of novel robotic systems for locomotion, manipulation, and sensing.
- Mechatronic design of a multi-flagellum soft underwater drone inspired by bacterial propulsion (ZodiAq).
- Development of a multifunctional soft module capable of both grasping and swimming.
- Modeling and sensing strategies for compliant underwater robots interacting with complex environments.
- Design and mechanics-based modeling of novel continuum manipulators and soft grippers.
Ph.D. Thesis — Analysis, Design, and Development of Electro Active Transducers (Aug 2015–Aug 2019)
- Supervisor: Dr. Soo Jin Adrian Koh, Applied Mechanics, Department of Mechanical Engineering, NUS.
- Focused on the theory, design, and experimental realization of dielectric elastomer transducers for low-frequency energy harvesting.
- Design, fabrication, and experimental validation of an autonomous dielectric elastomer generator.
- Analysis of operational limits of non-homogeneous dielectric elastomer transducers.
- Accurate prediction of transducer behavior using a molecular-based constitutive material model.
Mechatronics design experiences
- ZodiAq: an isotropic flagella-inspired soft underwater drone. Featured as Cover Art of the Soft Robotics journal (August 2024 issue) and highlighted in New Scientist for its innovative design.
- ReSoft Gripper: A reconfigurable soft gripper with monolithic fingers and a differential mechanism.
- DEAmP: Dielectric Elastomer Amplified Piezoelectric generator for harvesting low-frequency motions.
Patent
- Published PCT Patent Application: WO2020190215A1 (WIPO). “Dielectric-Elastomer-Amplified Piezoelectrics to Harvest Low-Frequency Motions.” Describes a hybrid piezoelectric–dielectric elastomer energy harvester and associated prototype design.
Selected publications
See my Google Scholar and ORCID profiles for the complete, up-to-date publication list.
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.
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.
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.
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.
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.
Talks
January 01, 2026
Keynote at AIRIM 2026, SRM University-AP, India
January 01, 2024
Invited Talk at MathWorks EMEA Demo Club,
May 01, 2023
Tutorial at ICRA 2023 Tutorial: Towards an accessible soft robotics toolbox and validation test rig, London, UK
Teaching
Academic service and leadership
- Reviewer of manuscripts for top robotics journals, including the International Journal of Robotics Research (IJRR), IEEE Transactions on Robotics (TRO), IEEE Robotics and Automation Magazine (RAM), IEEE Robotics and Automation Letters (RAL), and Soft Robotics, as well as for leading IEEE Robotics and Automation Society (RAS) conferences such as ICRA, IROS, RoboSoft, and CASE.
- Associate Editor of IEEE International Conference on Robotics and Automation (ICRA) 2024.
- Topic Editor, Frontiers in Robotics and AI Research Topic: “Soft Robotic Sensing and Modeling: From Proprioception to Physiology-Informed Validation” (2026).
- Workshop Organization: Lead organizer of the RoboSoft 2025 workshop “Bridging Computational Disciplines for Motion Generation in Soft Robotics and Deformable Systems”. Co-organizer of the “Software for Soft Robotic Research” workshop at IEEE RoboSoft 2022.
- Mentored several Ph.D. and Master’s students in robotics research, particularly in modeling, simulation, and academic development; currently co-supervisor of a Ph.D. student at Khalifa University.
Invited talks
- Keynote Speaker, AIRIM 2026, SRM University-AP, India.
- “Soft Robotics with SoRoSim Toolbox” at MATHWORKS EMEA Demo Club, 2024.
- “SoRoSim: a MATLAB® Toolbox for Hybrid Rigid-Soft Robots” at ICRA 2023 Tutorial: Towards an accessible soft robotics toolbox and validation test rig.
Achievements
- Work featured on the cover of the IJRR (Jan 2025, Jan 2026), and Soft Robotics (Aug 2024).
- 3rd Place in EAP-in-Action Best Demonstration Award 2018, presented at SPIE’s 25th International Symposium on Smart Structures and Materials + Nondestructive Evaluation (March 4-8, 2018).
- Awarded the silver medal for topping the Mechanical Engineering batch of 2015 at IITH.
- TODAI scholarship, provided by the University of Tokyo, and the Academic Excellence award by IIT Hyderabad for students with the best academic record in 2013.
- Secured an All India Rank (AIR) of 2274 in IIT JEE among 0.5 million students (99.54 percentile), AIR of 172 in AIEEE among 1 million students (99.98), and All Kerala Rank of 9 in state entrance exam among 1 lakh candidates (99.99) in 2011.
- Regional Mathematical Olympiad Topper of Kerala zone (India) in 2010.
Skills
- Programming Languages: MATLAB, Python, C, C++
- Software: MATLAB, Solidworks, ANSYS, Overleaf
- AI & Machine Learning: Autoencoders, Reinforcement Learning (Actor-Critic), Diffusion Policy, MATLAB Deep Learning Toolbox
Research interests
- Robot dynamics and control
- Differentiable simulation and physics engines
- Contact mechanics and collision algorithms
- Motion planning and optimization
- Soft, rigid, and hybrid robotic systems
Teaching interests
- Robotics (modeling, control, and algorithms)
- Statics and Dynamics
- Solid Mechanics
