Author

Robert Katzschmann

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Preprint Sep 2026

Orientation Control of Soft Robots via Adiabatic Spectral Submanifolds

Soft robots are commonly sought for safety-critical interactions in delicate environments, where accurate position and orientation control is imperative. Model predictive control (MPC) offers a solution, but it requires a model of the robot's infinite-dimensional nonlinear dynamics that is at once accurate and computat...

Aron Karakai, Roshan S. Kaundinya, M. Y. Michelis et al. · 0 citations

Review Aug 2026

Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning

Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical in contact-sensitive manipulation, where successful task execution depends not only on visual perception and motion generation, but also on...

Shilin Shan, Chu-Hao Zhou, Rui-Ze Wang et al. · 0 citations