2 papers
cs.RO2025
Recursive Model-agnostic Inverse Dynamics of Serial Soft-Rigid Robots
Pietro Pustina, Cosimo Della Santina, Alessandro De Luca
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements…
cs.RO2025
On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics
Giulio Turrisi, Marco Capotondi, Claudio Gaz +3
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the…