386 citations · 465 across the 21 of their papers we have counts for
8 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…
Generalizable Motion Policies through Keypoint Parameterization and Transportation Maps
Giovanni Franzese, Ravi Prakash, Cosimo Della Santina +1
Learning from Interactive Demonstrations has revolutionized the way non-expert humans teach robots. It is enough to kinesthetically move the robot around to teach pick-and-place, d…
Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting
Johannes F. Elfferich, Ebrahim Shahabi, Cosimo Della Santina +1
As global demand for fruits and vegetables continues to rise, the agricultural industry faces challenges in securing adequate labor. Robotic harvesting devices offer a promising so…
Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning
Sebastien Tiburzio, Tomás Coleman, Daniel Feliu-Talegon +1
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady stat…
Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators
Kyle L. Walker, Cosimo Della Santina, Francesco Giorgio-Serchi
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep wa…
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
Vassil Atanassov, Jiatao Ding, Jens Kober +2
Deep reinforcement learning (DRL) has emerged as a promising solution to mastering explosive and versatile quadrupedal jumping skills. However, current DRL-based frameworks usually…
Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
Cristina Piazza, Cosimo Della Santina, Giorgio Grioli +2
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as fl…