108 citations · 117 across the 7 of their papers we have counts for
9 papers
Stabilizing Low-Stiffness Soft Robots at Unstable Equilibria: A Model-Based Optimal Control Approach
Nikhil Nair, Daniele Caradonna, Anup Teejo Mathew +3
Continuum soft robots are highly nonlinear and underactuated systems, which makes stabilizing them around unstable equilibrium points difficult. This challenge becomes even greater…
Collocated Shape Regulation for Soft Robots
Pietro Pustina, Ebrahim Shahabi, Daniel Feliu-Talegon +2
Controlling the shape of a continuum soft robot typically requires an accurate dynamic model and actuation of all degrees of freedom. We show that regulating only the actuated coor…
Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location
Daniel Feliu-Talegon, Cosimo Della Santina
Most research on the manipulation of deformable objects focuses on lightweight systems with negligible mechanical response, effectively restricting attention to quasi-static regime…
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…
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…
ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration
Anup Teejo Mathew, Daniel Feliu-Talegon, Yusuf Abdullahi Adamu +5
The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine…
Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization
Abdulaziz Y. Alkayas, Anup Teejo Mathew, Daniel Feliu-Talegon +3
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have rece…
Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning
Sebastien Tiburzio, Tomás Coleman, Daniel Feliu-Talegon +1
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady stat…
How ornithopters can perch autonomously on a branch
Raphael Zufferey, Jesus Tormo Barbero, Daniel Feliu Talegon +3
Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuv…