Cosimo Della Santina

Dimitra Dodou

IEEE Robotics Autom. Lett., January, 2025

2024

PUMA: Deep Metric Imitation Learning for Stable Motion Primitives.

[BibT_eX]

[DOI]

Adv. Intell. Syst., November, 2024

Shared Awareness Across Domain-Specific Artificial Intelligence: An Alternative to Domain-General Intelligence and Artificial Consciousness.

[BibT_eX]

[DOI]

Adv. Intell. Syst., October, 2024

Model and Control of R-Soft Inverted Pendulum.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., June, 2024

Physics-Informed Neural Networks to Model and Control Robots: A Theoretical and Experimental Investigation.

[BibT_eX]

[DOI]

Jingyue Liu

Adv. Intell. Syst., May, 2024

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering.

[BibT_eX]

[DOI]

Francesco Stella

IEEE Robotics Autom. Lett., February, 2024

Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning.

[BibT_eX]

[DOI]

Jiatao Ding

Mees A. van Löben Sels

Franco Angelini

IEEE Robotics Autom. Lett., January, 2024

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2024

Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2024

Robust Quadrupedal Jumping With Impact-Aware Landing: Exploiting Parallel Elasticity.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2024

Model-Based Control for Soft Robots With System Uncertainties and Input Saturation.

[BibT_eX]

[DOI]

IEEE Trans. Ind. Electron., 2024

Neural Autoencoder-Based Structure-Preserving Model Order Reduction and Control Design for High-Dimensional Physical Systems.

[BibT_eX]

[DOI]

Marco Lepri

Davide Bacciu

IEEE Control. Syst. Lett., 2024

Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control.

[BibT_eX]

[DOI]

CoRR, 2024

Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning.

[BibT_eX]

[DOI]

Mariano Ramírez Montero

CoRR, 2024

ILeSiA: Interactive Learning of Situational Awareness from Camera Input.

[BibT_eX]

[DOI]

CoRR, 2024

Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space.

[BibT_eX]

[DOI]

CoRR, 2024

Leveraging LLMs, Graphs and Object Hierarchies for Task Planning in Large-Scale Environments.

[BibT_eX]

[DOI]

CoRR, 2024

Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact.

[BibT_eX]

[DOI]

CoRR, 2024

Exponentially Stable Projector-based Control of Lagrangian Systems with Gaussian Processes.

[BibT_eX]

[DOI]

Giulio Evangelisti

Sandra Hirche

CoRR, 2024

Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting.

[BibT_eX]

[DOI]

Johannes F. Elfferich

Ebrahim Shahabi

Dimitra Dodou

CoRR, 2024

Model-based Manipulation of Deformable Objects with Non-negligible Dynamics as Shape Regulation.

[BibT_eX]

[DOI]

Sebastien Tiburzio

Tomás Coleman

CoRR, 2024

Unified Inverse Dynamics of Modular Serial Mechanical Systems with Application to Soft Robotics.

[BibT_eX]

[DOI]

Pietro Pustina

Alessandro De Luca

CoRR, 2024

Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design.

[BibT_eX]

[DOI]

CoRR, 2024

Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators.

[BibT_eX]

[DOI]

Kyle L. Walker

Francesco Giorgio Serchi

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control.

[BibT_eX]

[DOI]

Sonal Santosh Baberwal

Shirley Coyle

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials.

[BibT_eX]

[DOI]

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots.

[BibT_eX]

[DOI]

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

An Empirical Investigation on Variational Autoencoder-Based Dynamic Modeling of Deformable Objects from RGB Data.

[BibT_eX]

[DOI]

Proceedings of the 32nd Mediterranean Conference on Control and Automation, 2024

IMU Based Pose Reconstruction and Closed-loop Control for Soft Robotic Arms.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Learning Multi-Reference Frame Skills from Demonstration with Task-Parameterized Gaussian Processes.

[BibT_eX]

[DOI]

Mariano Ramírez Montero

Giovanni Franzese

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots.

[BibT_eX]

[DOI]

Zach J. Patterson

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes.

[BibT_eX]

[DOI]

Proceedings of the European Control Conference, 2024

Awareness in Robotics: An Early Perspective from the Viewpoint of the EIC Pathfinder Challenge "Awareness Inside".

[BibT_eX]

[DOI]

Proceedings of the European Robotics Forum 2024, 2024

EMERGE - Emergent Awareness from Minimal Collectives.

[BibT_eX]

[DOI]

Proceedings of the European Robotics Forum 2024, 2024

Development of a Variable Stiffness Mechanism with a Linear Output for Exosuit Integration.

[BibT_eX]

[DOI]

Proceedings of the 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, 2024

Random Oscillators Network for Time Series Processing.

[BibT_eX]

[DOI]

Andrea Ceni

Andrea Cossu

Maximilian W. Stölzle

Proceedings of the International Conference on Artificial Intelligence and Statistics, 2024

2023

A Provably Stable Iterative Learning Controller for Continuum Soft Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., October, 2023

How can LLMs transform the robotic design process?

[BibT_eX]

[DOI]

Francesco Stella

Nat. Mac. Intell., June, 2023

Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped.

[BibT_eX]

[DOI]

Alessandro M. Giordano

Annika Schmidt

IEEE Robotics Autom. Lett., April, 2023

P-satI-D Shape Regulation of Soft Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2023

On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2023

NiSNN-A: Non-iterative Spiking Neural Networks with Attention with Application to Motor Imagery EEG Classification.

[BibT_eX]

[DOI]

Chuhan Zhang

Wei Pan

CoRR, 2023

Deep Metric Imitation Learning for Stable Motion Primitives.

[BibT_eX]

[DOI]

CoRR, 2023

On the Collocated Form with Input Decoupling of Lagrangian Systems.

[BibT_eX]

[DOI]

CoRR, 2023

Can Large Language Models design a Robot?

[BibT_eX]

[DOI]

Francesco Stella

CoRR, 2023

Robotic Monitoring of Habitats: The Natural Intelligence Approach.

[BibT_eX]

[DOI]

Thrishantha Nanayakkara

Paolo Remagnino

Diego Torricelli

Manolo Garabini

IEEE Access, 2023

Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Soft Robotics, 2023

Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Soft Robotics, 2023

Piecewise Affine Curvature model: a Reduced-Order Model for Soft Robot-Environment Interaction Beyond PCC.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Soft Robotics, 2023

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Soft Robotics, 2023

FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects.

[BibT_eX]

[DOI]

Willem Heeringa

Gerwin Smit

Proceedings of the IEEE International Conference on Soft Robotics, 2023

An Experimental Study of Model-Based Control for Planar Handed Shearing Auxetics Robots.

[BibT_eX]

[DOI]

Theophil Spiegeler Castañeda

Proceedings of the Experimental Robotics - The 18th International Symposium, 2023

Robotic Fabric Flattening with Wrinkle Direction Detection.

[BibT_eX]

[DOI]

Proceedings of the Experimental Robotics - The 18th International Symposium, 2023

Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

BICEP: A Bio-Inspired Compliant Elbow Prosthesis.

[BibT_eX]

[DOI]

Bart Horstman

Patricia Capsi-Morales

Cristina Piazza

Proceedings of the Human-Friendly Robotics 2023, 2023

A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot.

[BibT_eX]

[DOI]

Emilio Tavio y Cabrera

Proceedings of the Human-Friendly Robotics 2023, 2023

Robotic Packaging Optimization with Reinforcement Learning.

[BibT_eX]

[DOI]

Eveline Drijver

Zlatan Ajanovic

Proceedings of the 19th IEEE International Conference on Automation Science and Engineering, 2023

2022

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation: Morphology Driven Control of a Swimming Robot.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Mag., 2022

An Experimental Validation of the Polynomial Curvature Model: Identification and Optimal Control of a Soft Underwater Tentacle.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Feedback Regulation of Elastically Decoupled Underactuated Soft Robots.

[BibT_eX]

[DOI]

Pietro Pustina

Alessandro De Luca

IEEE Robotics Autom. Lett., 2022

Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Piston-Driven Pneumatically-Actuated Soft Robots: Modeling and Backstepping Control.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2022

On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems.

[BibT_eX]

[DOI]

Azita Dabiri

IEEE Control. Syst. Lett., 2022

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC.

[BibT_eX]

[DOI]

CoRR, 2022

Learning Assembly Tasks in a Few Minutes by Combining Impedance Control and Residual Recurrent Reinforcement Learning.

[BibT_eX]

[DOI]

Adv. Intell. Syst., 2022

Soft Robotic Grippers for Crop Handling or Harvesting: A Review.

[BibT_eX]

[DOI]

Johannes F. Elfferich

Dimitra Dodou

IEEE Access, 2022

Sensing soft robots' shape with cameras: an investigation on kinematics-aware SLAM.

[BibT_eX]

[DOI]

Emanuele Riccardo Rosi

Fabio Solari

Proceedings of the 5th IEEE International Conference on Soft Robotics, 2022

Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity.

[BibT_eX]

[DOI]

Azita Dabiri

Proceedings of the 5th IEEE International Conference on Soft Robotics, 2022

One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model.

[BibT_eX]

[DOI]

Lars Besselaar

Proceedings of the 5th IEEE International Conference on Soft Robotics, 2022

Planning Natural Locomotion for Articulated Soft Quadrupeds.

[BibT_eX]

[DOI]

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Minimalistic Soft Exosuit for Assisting the Shoulder via Biomechanics-Aware Optimization.

[BibT_eX]

[DOI]

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Single-Leg Forward Hopping via Nonlinear Modes.

[BibT_eX]

[DOI]

Alessandro M. Giordano

Proceedings of the American Control Conference, 2022

2021

Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions.

[BibT_eX]

[DOI]

Alessandro Massimo Giordano

IEEE Robotics Autom. Lett., 2021

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Understanding Human Manipulation With the Environment: A Novel Taxonomy for Video Labelling.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2021

Editorial: On the Planning, Control, and Perception of Soft Robotic End-Effectors.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2021

Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2021

Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2021

Covid-19 and Flattening the Curve: A Feedback Control Perspective.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2021

PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2021

Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia.

[BibT_eX]

[DOI]

IEEE Control. Syst. Lett., 2021

Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges.

[BibT_eX]

[DOI]

Christian Duriez

CoRR, 2021

Estimating the State of Epidemics Spreading with Graph Neural Networks.

[BibT_eX]

[DOI]

CoRR, 2021

Model-Based Control Can Improve the Performance of Artificial Cilia.

[BibT_eX]

[DOI]

Proceedings of the 4th IEEE International Conference on Soft Robotics, 2021

Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

PI<sup>σ</sup> - PI<sup>σ</sup> Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree.

[BibT_eX]

[DOI]

Proceedings of the 2021 European Control Conference, 2021

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling.

[BibT_eX]

[DOI]

Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021

Iterative Learning in Functional Space for Non-Square Linear Systems.

[BibT_eX]

[DOI]

Franco Angelini

Proceedings of the 2021 60th IEEE Conference on Decision and Control (CDC), 2021

2020

Distributed Proprioception of 3D Configuration in Soft, Sensorized Robots via Deep Learning.

[BibT_eX]

[DOI]

Ryan L. Truby

IEEE Robotics Autom. Lett., 2020

Data-Driven Disturbance Observers for Estimating External Forces on Soft Robots.

[BibT_eX]

[DOI]

Ryan L. Truby

IEEE Robotics Autom. Lett., 2020

Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Exploiting Adaptability in Soft Feet for Sensing Contact Forces.

[BibT_eX]

[DOI]

Manuel Giuseppe Catalano

IEEE Robotics Autom. Lett., 2020

Time Generalization of Trajectories Learned on Articulated Soft Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2020

Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2020

Trajectory Tracking of Optimal Social Distancing Strategies with Application to a CoVid-19 Scenario.

[BibT_eX]

[DOI]

CoRR, 2020

A review on nonlinear modes in conservative mechanical systems.

[BibT_eX]

[DOI]

Annu. Rev. Control., 2020

Modeling Previous Trial Effect in Human Manipulation through Iterative Learning Control.

[BibT_eX]

[DOI]

Adv. Intell. Syst., 2020

Extensible High Force Manipulator For Complex Exploration.

[BibT_eX]

[DOI]

Proceedings of the 3rd IEEE International Conference on Soft Robotics, 2020

To grasp or not to grasp: an end-to-end deep-learning approach for predicting grasping failures in soft hands.

[BibT_eX]

[DOI]

Proceedings of the 3rd IEEE International Conference on Soft Robotics, 2020

Iterative Learning Control as a Framework for Human-Inspired Control with Bio-mimetic Actuators.

[BibT_eX]

[DOI]

Proceedings of the Biomimetic and Biohybrid Systems - 9th International Conference, 2020

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots.

[BibT_eX]

[DOI]

Proceedings of the Experimental Robotics - The 17th International Symposium, 2020

Sensing Soft Robot Shape Using IMUs: An Experimental Investigation.

[BibT_eX]

[DOI]

Proceedings of the Experimental Robotics - The 17th International Symposium, 2020

A technical framework for human-like motion generation with autonomous anthropomorphic redundant manipulators.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Modeling Human Motor Skills to Enhance Robots' Physical Interaction.

[BibT_eX]

[DOI]

Proceedings of the Human-Friendly Robotics 2020 - 13th International Workshop, 2020

The Soft Inverted Pendulum with Affine Curvature.

[BibT_eX]

[DOI]

Proceedings of the 59th IEEE Conference on Decision and Control, 2020

2019

Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs.

[BibT_eX]

[DOI]

Frontiers Neurorobotics, 2019

Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Soft Robotics, 2019

Dynamic Control of Soft Robots with Internal Constraints in the Presence of Obstacles.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

A Neuromuscular-Model Based Control Strategy to Minimize Muscle Effort in Assistive Exoskeletons.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE International Conference on Rehabilitation Robotics, 2019

2018

Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information.

[BibT_eX]

[DOI]

Frontiers Neurorobotics, 2018

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Soft Robots.

[BibT_eX]

[DOI]

CoRR, 2018

Dynamic control of soft robots interacting with the environment.

[BibT_eX]

[DOI]