Mike Y. Michelis — accepted AI-conference papers

2023

Aquarium: A Fully Differentiable Fluid-Structure Interaction Solver for Robotics Applications

Jeong Hun Lee, Mike Y. Michelis, Robert Katzschmann, Zachary Manchester

ICRA 2023poster

We present Aquarium, a differentiable fluid-structure interaction solver for robotics that offers stable simulation, accurately coupled fluid-robot physics in two dimensions, and full differentiability with respect to fluid and robot states and parameters. Aquarium achieves stable simulation with ac…

Cited by 6 Source ↗code ↗Scholar ↗

2022

Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs

Stephan-Daniel Gravert, Mike Y. Michelis, Simon Rogler, Dario Tscholl, Thomas Buchner, Robert K. Katzschmann

IROS 2022poster

Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are vastly inferior to evolved biological swimmers, especially i…

Cited by 10 Source ↗Scholar ↗