Research Scientist, Dept. of Mechanical and Nuclear Engineering · Khalifa University, Abu Dhabi, UAE
anupteejo@gmail.com · anup.mathew@ku.ac.ae
Focused on fundamental problems in robotics — modeling, dynamics, contact, and motion planning. I develop differentiable physics and geometry-based optimization methods for scalable control, planning, and real-time autonomy of rigid, soft, and hybrid robots.
MATLAB Python C++
Currently building: SoRoSim, a MATLAB toolbox for hybrid rigid-soft robot simulation, and its C++ differentiable-physics successor, SoRoSim++, for real-time, contact-rich, learning-ready robot simulation.
- Analytical derivatives of strain-based dynamic model for hybrid soft-rigid robots. The International Journal of Robotics Research, 2026. DOI
- Reduced order modeling of hybrid soft-rigid robots using global, local, and state-dependent strain parameterization. The International Journal of Robotics Research, 2025. DOI
- SoRoSim: A MATLAB Toolbox for Hybrid Rigid-Soft Robots Based on the Geometric Variable-Strain Approach. IEEE Robotics & Automation Magazine, 2023. DOI
- Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization. IEEE Transactions on Robotics, 2025. DOI
- ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration. Soft Robotics, 2025. DOI