386 citations · 465 across the 21 of their papers we have counts for
4 papers · 1 filter
Exponentially Stable Projector-based Control of Lagrangian Systems with Gaussian Processes
Giulio Evangelisti, Cosimo Della Santina, Sandra Hirche
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative…
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes
Arne Sachtler, Davide Calzolari, Maximilian Raff +5
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the u…
Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges
Cosimo Della Santina, Christian Duriez, Daniela Rus
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft ap…
Covid-19 and Flattening the Curve: a Feedback Control Perspective
Francesco Di Lauro, István Z. Kiss, Daniela Rus +1
Many of the control policies that were put into place during the Covid-19 pandemic had a common goal: to flatten the curve of the number of infected people so that its peak remains…