Publications
A selection of my highlighted publications is listed below. For the complete, up-to-date list, see my Google Scholar and ORCID profiles (linked in the sidebar).
Journal Articles
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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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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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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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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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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