10 citations · 18 across the 22 of their papers we have counts for
29 papers · 1 filter
From Digital to Physical Reservoir Computing: Co-Optimizing Soft Robotic Reservoirs via Dynamics Matching
Nicola Visentin, Maximilian Stölzle, Mariano Ramírez Montero +3
Soft robotic substrates are promising for Physical Reservoir Computing (PRC) because their compliant nonlinear dynamics can provide temporal memory, high-dimensional state transfor…
SoRoMoX: Fast, Differentiable, and Parallelizable Soft Robot Models
Maximilian Stölzle, Solange Gribonval, Daniel Feliu-Talegon +9
Reduced-order models based on Cosserat-rod theory are now well established, and modeling theory is no longer the primary bottleneck in soft-robot control. Their implementations, ho…
A Model-Based Decoupling Strategy for Proprioception and Contact Sensing in an Architected Soft Manipulator
Francesco Stella, Annan Zhang, Cosimo Della Santina +2
Soft continuum robots require embedded sensing for proprioception and contact detection, yet integrating sensors into sparse, highly deformable architected structures remains chall…
Reconciling distributed compliance with high-performance control in continuum soft robotics
Vito Daniele Perfetta, Daniel Feliu-Talegon, Ebrahim Shahabi +1
High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise arc…
Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators
Carina Veil, Moritz Flaschel, Ellen Kuhl +1
For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configura…
SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot
Storm de Kam, Ebrahim Shahabi, Cosimo Della Santina
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, whil…