14 citations · 50 across the 32 of their papers we have counts for
6 papers · 1 filter
An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots
Maximilian Stölzle, Daniela Rus, Cosimo Della Santina
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, than…
PUMA: Deep Metric Imitation Learning for Stable Motion Primitives
Rodrigo Pérez-Dattari, Cosimo Della Santina, Jens Kober
Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of rea…
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
Francecso Vezzi, Jiatao Ding, Antonin Raffin +2
Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle…
Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
Pietro Pustina, Cosimo Della Santina, Frédéric Boyer +2
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformati…
Robotic Packaging Optimization with Reinforcement Learning
Eveline Drijver, Rodrigo Pérez-Dattari, Jens Kober +2
Intelligent manufacturing is becoming increasingly important due to the growing demand for maximizing productivity and flexibility while minimizing waste and lead times. This work…
Robotic Fabric Flattening with Wrinkle Direction Detection
Yulei Qiu, Jihong Zhu, Cosimo Della Santina +2
Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc…