Zobrazeno 1 - 10
of 816
pro vyhledávání: '"P. Della Santina"'
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 both data-driven and first-principle solutions. Both avenues have, howe
Externí odkaz:
http://arxiv.org/abs/2411.00138
Autor:
Montero, Mariano Ramírez, Shahabi, Ebrahim, Franzese, Giovanni, Kober, Jens, Mazzolai, Barbara, Della Santina, Cosimo
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast, traditional
Externí odkaz:
http://arxiv.org/abs/2410.07787
Autor:
Vanc, Petr, Franzese, Giovanni, Behrens, Jan Kristof, Della Santina, Cosimo, Stepanova, Karla, Kober, Jens
Learning from demonstration is a promising way of teaching robots new skills. However, a central problem when executing acquired skills is to recognize risks and failures. This is essential since the demonstrations usually cover only a few mostly suc
Externí odkaz:
http://arxiv.org/abs/2409.20173
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 systems remains an open challenge. We argue that a promising avenue is
Externí odkaz:
http://arxiv.org/abs/2409.08439
Planning methods struggle with computational intractability in solving task-level problems in large-scale environments. This work explores leveraging the commonsense knowledge encoded in LLMs to empower planning techniques to deal with these complex
Externí odkaz:
http://arxiv.org/abs/2409.04775
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 soft robots offer increased compliance over rigid body robots, their p
Externí odkaz:
http://arxiv.org/abs/2408.09275
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative stability criteria. This article proposes a structure-preserving proje
Externí odkaz:
http://arxiv.org/abs/2406.03224
Autor:
Sachtler, Arne, Calzolari, Davide, Raff, Maximilian, Schmidt, Annika, Wotte, Yannik P., Della Santina, Cosimo, Remy, C. David, Albu-Schäffer, Alin
Publikováno v:
2024 European Control Conference (ECC), Stockholm, Sweden, 2024, pp. 2392-2398
We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is exploited
Externí odkaz:
http://arxiv.org/abs/2404.08478
As global demand for fruits and vegetables continues to rise, the agricultural industry faces challenges in securing adequate labor. Robotic harvesting devices offer a promising solution to solve this issue. However, harvesting delicate fruits, notab
Externí odkaz:
http://arxiv.org/abs/2403.17099
Model-based manipulation of deformable objects has traditionally dealt with objects in the quasi-static regimes, either because they are extremely lightweight/small or constrained to move very slowly. On the contrary, soft robotic research has made c
Externí odkaz:
http://arxiv.org/abs/2402.16114