Authors & Maintainers¶

SoRoMoX is developed by researchers working on soft robotics, continuum mechanics, model-based control, learning, and differentiable simulation.

Authors¶

Maximilian Stölzle¶

Postdoctoral Associate
Distributed Robotics Lab, MIT CSAIL
Cambridge, USA

Contact: mstolzle@mit.edu | maximilian@stoelzle.ch

Links:

• MIT CSAIL profile
• Website
• GitHub
• LinkedIn
• Google Scholar

Maximilian is the primary developer and maintainer of SoRoMoX. His research combines soft robotics, control, and machine learning to build safe and precise robotic systems.

Solange Gribonval¶

Polytechnique Montréal
Montréal, Canada

Links:

• GitHub
• LinkedIn

Solange contributes to the continuum-mechanics foundations and JAX implementation of SoRoMoX, including the Geometric Variable-Strain models.

Daniel Feliu-Talegon¶

Postdoctoral Researcher
Physical Intelligence Lab, TU Delft
Delft, the Netherlands

Contact: D.FeliuTalegon@tudelft.nl

Links:

• TU Delft profile
• GitHub
• LinkedIn
• Google Scholar

Daniel contributes to continuum-robot modeling, system identification, simulation performance, and model-based control.

Vito Daniele Perfetta¶

PhD Researcher
Learning and Autonomous Control, TU Delft
Delft, the Netherlands

Contact: V.D.Perfetta@tudelft.nl

Links:

• TU Delft profile
• GitHub
• LinkedIn

Vito contributes to soft-robot control, examples, visualization, and experimental continuum-manipulator workflows.

Michele Martini¶

PhD Researcher
Bioinspired Soft Robotics, Istituto Italiano di Tecnologia
Genoa, Italy

Contact: michele.martini@iit.it

Links:

• IIT profile
• GitHub
• LinkedIn
• ORCID

Michele contributes threadlike actuation models, passive impedance elements, and co-optimization and co-design examples for soft robotic systems.

Chuhan Zhang¶

PhD Researcher
Cognitive Robotics, TU Delft
Delft, the Netherlands

Contact: C.Zhang-8@tudelft.nl

Links:

• TU Delft profile
• GitHub
• LinkedIn

Chuhan researches spiking neural networks, reinforcement learning, and bio-inspired locomotion, and contributes learning and control examples to SoRoMoX.

Kiwan Wong¶

PhD Researcher
Department of Mechanical Engineering and MIT CSAIL
Cambridge, USA

Contact: kiwan588@mit.edu

Links:

• MIT CSAIL profile
• Website
• GitHub
• LinkedIn

Kiwan contributes safety-critical soft-robot control, including control-barrier-function examples and contact-aware control workflows.

Daniela Rus¶

Director, MIT CSAIL
Professor, MIT Department of Electrical Engineering and Computer Science
Cambridge, USA

Contact: rus@csail.mit.edu

Links:

• MIT CSAIL profile
• Website

Daniela leads the Distributed Robotics Lab and contributes research direction in robotics, artificial intelligence, and safe autonomous systems.

Cosimo Della Santina¶

Associate Professor
Cognitive Robotics, TU Delft
Delft, the Netherlands

Contact: C.DellaSantina@tudelft.nl

Links:

• Website
• LinkedIn
• Google Scholar

Cosimo leads the Physical Intelligence Lab and contributes the project’s research direction in soft-robot modeling, control, and physical intelligence.

Maintainers¶

The project is actively maintained by:

• Maximilian Stölzle — primary maintainer and lead developer.

Contributing¶

We welcome contributions from the community. See the Contributing Guide to get started.

Acknowledgments¶

This work benefits from the broader soft-robotics and continuum-mechanics communities.

Theoretical Foundations¶

We gratefully acknowledge the foundational contributions of Prof. Federico Renda, Prof. Frédéric Boyer, and Dr. Anup Teejo Mathew, along with the researchers who developed the Piecewise Constant-Strain, Geometric Variable-Strain, and related approaches implemented in this library.

Inspiration¶

SoRoMoX was inspired by SoRoSim, a MATLAB toolbox for hybrid rigid-soft robots:

Mathew, A. T., Hmida, I. B., Armanini, C., Boyer, F., & Renda, F. (2022). Sorosim: A matlab toolbox for hybrid rigid–soft robots based on the geometric variable-strain approach. IEEE Robotics & Automation Magazine, 30(3), 106–122.