7 citations · 7 across the 4 of their papers we have counts for
4 papers · 1 filter
Collision Detection with Analytical Derivatives of Contact Kinematics
Anup Teejo Mathew, Anees Peringal, Daniele Caradonna +2
Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smoot…
Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems
Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robo…
SoFFT: Spatial Fourier Transform for Modeling Continuum Soft Robots
Daniele Caradonna, Diego Bianchi, Franco Angelini +1
Continuum soft robots, composed of flexible materials, exhibit theoretically infinite degrees of freedom, enabling notable adaptability in unstructured environments. Cosserat Rod T…
Rod models in continuum and soft robot control: a review
Carlo Alessi, Camilla Agabiti, Daniele Caradonna +3
Continuum and soft robots can transform automation tasks requiring compliant interaction in constrained or unstructured environments, including healthcare, agriculture, marine, and…