6 citations · 6 across the 3 of their papers we have counts for
4 papers
Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems
Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robo…
Rod models in continuum and soft robot control: a review
Carlo Alessi, Camilla Agabiti, Daniele Caradonna +3
Continuum and soft robots can transform automation tasks requiring compliant interaction in constrained or unstructured environments, including healthcare, agriculture, marine, and…
SoFFT: Spatial Fourier Transform for Modeling Continuum Soft Robots
Daniele Caradonna, Diego Bianchi, Franco Angelini +1
Continuum soft robots, composed of flexible materials, exhibit theoretically infinite degrees of freedom, enabling notable adaptability in unstructured environments. Cosserat Rod T…
Collision Detection with Analytical Derivatives of Contact Kinematics
Anup Teejo Mathew, Anees Peringal, Daniele Caradonna +2
Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smoot…