Soft Robotics

Gruppi di ricerca

Robotics

Publications

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and I...	2024
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots	2024
Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm	2023
Model-Based Control for Soft Robots With System Uncertainties and Input Saturation	2023
Time-optimal control of a visco-elastic joint	2023
A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection	2022
Feedback Regulation of Elastically Decoupled Underactuated Soft Robots	2022
P-satI-D Shape Regulation of Soft Robots	2022
Regulation by Iterative Learning in Continuum Soft Robots	2022
Detection and isolation of actuator faults and collisions for a flexible robot arm	2020
Detection and isolation of actuator faults and collisions for a flexible robot arm	2020
Linear-quadratic optimal boundary control of a one-link flexible arm	2020
Linear-quadratic optimal boundary control of a one-link flexible arm	2020
Linear-quadratic optimal boundary control of a one-link flexible arm	2020
On Time-Optimal Control of Elastic Joints under Input Constraints	2020
Time-Optimal Trajectory Planning for Flexible Joint Robots	2020
Actuator Design of Compliant Walkers via Optimal Control	2017
Robots with flexible elements	2016
A recursive Newton-Euler algorithm for robots with elastic joints and its application to control	2015
A pure signal-based stiffness estimation for VSA devices	2014
Flexible Robots	2014
On-line estimation of variable stiffness in flexible robot joints	2012
A PD-type regulator with exact gravity cancellation for robots with flexible joints	2011
Stiffness estimation and nonlinear control of robots with variable stiffness actuation	2011
Parametrization of a flexible link's internal behavior in an output tracking problem	1998
Adaptive disturbance attenuation with global stability for rigid and alastic joint robots	1997
Output tracking and internal behavior of a flexible slewing link	1997
A Unified Approach to Global Set Point Control for Rigid and Elastic Joint Robots	1996
Global set point control via link position measurement for flexible joint robots	1995
On optimal controllers for elastic joint robots	1995
Stability analysis for feedforward approximations in the control of flexible joint robots	1993
Stabilization and control of a flexible structure continuum model	1993
Asymptotically stable set point control laws for flexible robots	1992
A family of asymptotically stable tracking control laws for flexible robots	1991
Achieving minimum phase behavior in a one-link flexible arm	1991
End-effector Trajectory Tracking in Flexible Arms: Comparison of Approaches Based on Regulation Theo...	1991
Feedforward calculation in tracking control of flexible robots	1991

Eventi

22 to 26Mag 23

EECI 2023 International Graduate School on Control of Soft and Articulated Elastic Robots

Cosimo Della Santina, Alessandro De Luca

Persone

	De Luca Alessandro
	Pustina Pietro

Visiting professors

No visiting professor for this keyword