14 citations · 50 across the 32 of their papers we have counts for
8 papers · 1 filter
Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
Ricardo Valadas, Maximilian Stölzle, Jingyue Liu +1
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing b…
Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space
Maximilian Stölzle, Cosimo Della Santina
Even though a variety of methods have been proposed in the literature, efficient and effective latent-space control (i.e., control in a learned low-dimensional space) of physical s…
Scalable Task Planning via Large Language Models and Structured World Representations
Rodrigo Pérez-Dattari, Zhaoting Li, Robert Babuška +2
Planning methods struggle with computational intractability in solving task-level problems in large-scale environments. This work explores leveraging the commonsense knowledge enco…
Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
Zach J. Patterson, Emily Sologuren, Cosimo Della Santina +1
Soft robotics focuses on designing robots with highly deformable materials, allowing them to adapt and operate safely and reliably in unstructured and variable environments. While…
Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside''
Cosimo Della Santina, Carlos Hernandez Corbato, Burak Sisman +28
Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars…
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots
Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer +2
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dyna…
Recursive Model-agnostic Inverse Dynamics of Serial Soft-Rigid Robots
Pietro Pustina, Cosimo Della Santina, Alessandro De Luca
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements…
Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control
Maximilian Stölzle, Sonal Santosh Baberwal, Daniela Rus +2
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically…