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151-0636-00L 4 Credits DR , MSC , BSC D-HEST , D-MAVT , D-PHYS , D-ERDW , D-INFK , D-MATH , D-ITET , D-MATL

Soft and Biohybrid Robotics

Lecturers & Examiners: Prof. Dr. Robert Katzschmann
VVZ CR n/a

Last Updated: 2026-06-03 00:14:06

Abstract

This course introduces soft and biohybrid robots and how compliance, artificial muscles, and living materials enable capabilities beyond rigid machines. Students learn to design adaptive robotic systems by integrating polymer materials, bio-inspired actuation, integrated sensing, continuum mechanics, and learning-based control, with applications in manipulation, locomotion, and biohybrid robotics.

Objective

After completing this course, students will be able to: a) Design and build soft and biohybrid robotic systems Translate task requirements into functional system designs by selecting appropriate materials, actuation and sensing mechanisms, and fabrication methods, and integrate them into working prototypes. b) Model and simulate compliant and continuum robots Use reduced-order models, continuum mechanics, and physics-based simulations to analyze deformation, dynamics, and interaction, and critically assess the validity and limitations of these models. c) Develop control and learning strategies for soft robots Exploit mechanical compliance, impedance, and embodied intelligence, and apply optimization and learning-based methods to achieve robust manipulation and locomotion. d) Analyze and propose biohybrid robotic solutions Evaluate when and why living materials are advantageous, critically review existing biohybrid systems, and conceptualize minimal biohybrid robotic designs.

Content

The course provides a structured overview of the key building blocks of soft and biohybrid robotics, combining theory with hands-on practice: 1) Materials and fabrication Soft polymers, elastomers, bioinspired and living materials, additive manufacturing, casting, and biofabrication techniques. 2) Actuation principles Fluidic, electrostatic, and other compliant actuation mechanisms, including their modeling and design trade-offs. 3) Sensing in soft robots Embedded and distributed sensing, proprioception, and state estimation for deformable and continuum systems. 4) Design and fabrication of soft robots System-level integration of materials, actuation, sensing, and power transmission for functional robotic devices, such as robotic hands, robotic fish, and legged robots. 5) Biohybrid robotic systems Robots incorporating living cells and tissues, including neuromuscular actuation and hybrid fabrication approaches. 6) Mechanics and simulation Continuum and solid mechanics, finite-element methods, reduced-order models, and data-driven simulation techniques. 7) Learning and control Optimization, reinforcement learning, and data-driven control methods tailored to soft robotic systems. Regular assignments guide students through practical implementations of modeling, simulation, design, and control methods.

Resources

Lecture Notes

Lecture slides, recordings, assignments, selected readings, and tutorials will be made available on the course's Moodle page.

Literature

Review Articles: 1. Yasa et al., An Overview of Soft Robotics, Annual Review of Control, Robotics, and Autonomous Systems, 2023 — a modern, field-wide survey of soft robotics research and key advances. 2. Chen et al., Bioinspired and Biohybrid Soft Robots: Principles and Emerging Technologies, Matter, 2025 — a comprehensive review of state-of-the-art principles in bioinspired and biohybrid soft robots spanning materials, actuation, sensing, and design challenges. 3. Arameh Eyvazian et al., State-of-the-Art Soft Robotic Systems for Unstructured and Real-World Environments — a systematic review highlighting material innovations, intelligent architectures, control, and integration with AI for real-world soft robotic applications. Textbooks: 4. Cecilia Laschi, Soft Robotics (MIT Press, 2025) — a structured textbook covering fundamentals and advanced topics in soft robotic materials, mechanics, actuation, sensing, and control, designed for classroom use. 5. Handbook on Soft Robotics, edited by Thrishantha Nanayakkara (Springer, 2024) — a one-volume graduate-level reference with detailed chapters on design, fabrication, modeling, and control of soft robots. 6. The Science of Soft Robots: Design, Materials and Information Processing (Springer, 2023) — covers soft robot design principles, soft materials, and autonomous systems with interdisciplinary depth.

Learning Materials (Links)

General Information

Language
English
Levels
DR , MSC , BSC
Frequency
Yearly recurring

Examination

Type
end-of-semester examination
Mode
written 120 minutes
Aids
For the exam, only handwritten notes on a single sheet of A4 paper are permitted. Notes written or stored on electronic devices, including tablets, are not allowed.
Digital
The exam takes place on devices provided by ETH Zurich.
The assessment will be a computerized written examination with 50% weight and a compulsory continuous assessment throughout the semester with 50% weight. The computerized written exam covers all contents of the course, including the lectures, exercises, and learning activities. The compulsory continuous assessment throughout the semester will consist of three graded take-home assignments on the Moodle platform.

Registration & Places

Max Places
40

Course Components

Type Title Time & Place Hours
lecture with exercise Soft and Biohybrid Robotics
  • Mon 10:15-12:00 (HG D 3.2)
  • Tue 13:15-14:00 (HG D 3.2)
3 h weekly

Offered In