Moritz Geilinger

Papers

Total Citations

358

H-Index

About

Moritz Geilinger is a computational robotics researcher whose work sits at the intersection of physics-based simulation, robot design optimization, and motion planning. He is best known for his contributions to differentiable dynamics and legged-wheeled robotic systems, areas where his research has meaningfully advanced the state of the art. Geilinger's most influential work, ADD (Analytically Differentiable Dynamics), introduced a unified differentiable solver capable of handling frictional contact for both rigid and deformable objects — a notoriously difficult problem — earning over 140 citations and providing a powerful tool for gradient-based learning and optimization in robotics. His Skaterbots project (94 citations) demonstrated a compelling computational framework for designing and optimizing robotic creatures that combine legs and wheels, enabling automated motion synthesis for highly unconventional morphologies. Extending this theme, his research on legged-wheeled robot design and advanced mobility skills — including an MPC-based framework blending offline trajectory optimization with real-time control — reflects a sustained commitment to making hybrid robots more capable and versatile. With research spanning simulation, mechanical design, and control, Geilinger has established himself as a creative and technically rigorous voice in modern computational robotics.