14 citations · 14 across the 3 of their papers we have counts for
4 papers
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…
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…
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…