4 papers
Zero-shot Whole-Body Manipulation with a Large-Scale Soft Robotic Torso via Guided Reinforcement Learning
Curtis C. Johnson, Carlo Alessi, Egidio Falotico +1
Whole-body manipulation is a powerful yet underexplored approach that enables robots to interact with large, heavy, or awkward objects using more than just their end-effectors. Sof…
Domain Translation of a Soft Robotic Arm using Conditional Cycle Generative Adversarial Network
Nilay Kushawaha, Carlo Alessi, Lorenzo Fruzzetti +1
Deep learning provides a powerful method for modeling the dynamics of soft robots, offering advantages over traditional analytical approaches that require precise knowledge of the…
HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning
Carlo Alessi, Federico Vasile, Federico Ceola +3
Recent advancements in control of prosthetic hands have focused on increasing autonomy through the use of cameras and other sensory inputs. These systems aim to reduce the cognitiv…
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…