Zobrazeno 1 - 10
of 374
pro vyhledávání: '"P. Della Santina"'
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
Autor:
Della Santina, Cosimo, Corbato, Carlos Hernandez, Sisman, Burak, Leiva, Luis A., Arapakis, Ioannis, Vakalellis, Michalis, Vanderdonckt, Jean, D'Haro, Luis Fernando, Manzi, Guido, Becchio, Cristina, Elamrani, Aïda, Alirezaei, Mohsen, Castellano, Ginevra, Dimarogonas, Dimos V., Ghosh, Arabinda, Haesaert, Sofie, Soudjani, Sadegh, Stroeve, Sybert, Verschure, Paul, Bacciu, Davide, Deroy, Ophelia, Bahrami, Bahador, Gallicchio, Claudio, Hauert, Sabine, Sanz, Ricardo, Lanillos, Pablo, Iacca, Giovanni, Sigg, Stephan, Gasulla, Manel, Steels, Luc, Sierra, Carles
Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researcher
Externí odkaz:
http://arxiv.org/abs/2402.09030
Autor:
Pustina, Pietro, Calzolari, Davide, Albu-Schäffer, Alin, De Luca, Alessandro, Della Santina, Cosimo
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dynamic conditions necessitates the development of control-oriented reduce
Externí odkaz:
http://arxiv.org/abs/2402.07038
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control techniques d
Externí odkaz:
http://arxiv.org/abs/2402.07037
Deep reinforcement learning (DRL) has emerged as a promising solution to mastering explosive and versatile quadrupedal jumping skills. However, current DRL-based frameworks usually rely on pre-existing reference trajectories obtained by capturing ani
Externí odkaz:
http://arxiv.org/abs/2401.16337
Autor:
Stölzle, Maximilian, Baberwal, Sonal Santosh, Rus, Daniela, Coyle, Shirley, Della Santina, Cosimo
Integrating Brain-Machine Interfaces into non-clinical applications like robot motion control remains difficult - despite remarkable advancements in clinical settings. Specifically, EEG-based motor imagery systems are still error-prone, posing safety
Externí odkaz:
http://arxiv.org/abs/2401.13441