Searched for: +
(1 - 20 of 75)

Pages

List view
Grid view
document
Lepri, M. (author), Bacciu, Davide (author), Della Santina, C. (author)
This letter concerns control-oriented and structure-preserving learning of low-dimensional approximations of high-dimensional physical systems, with a focus on mechanical systems. We investigate the integration of neural autoencoders in model order reduction, while at the same time preserving Hamiltonian or Lagrangian structures. We focus on...
journal article 2024
document
Pustina, P. (author), Della Santina, C. (author), Boyer, Frederic (author), De Luca, Alessandro (author), Renda, Federico (author)
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this article aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? We not only show that the...
journal article 2024
document
Caradonna, Daniele (author), Pierallini, M. (author), Della Santina, C. (author), Angelini, Franco (author), Bicchi, Antonio (author)
Soft robots enable safe and robust operations in unstructured environments. However, the nonlinearities of their continuum structure complicate the accomplishment of classic robotic tasks, such as pick and place. In this work, we propose the R-Soft Inverted Pendulum, a Soft Inverted Pendulum (SIP) actuated only by a revolute joint at the base...
journal article 2024
document
Shao, X. (author), Pustina, P. (author), Stölzle, Maximilian (author), Sun, Guanghui (author), De Luca, Alessandro (author), Wu, Ligang (author), Della Santina, C. (author)
Model-based strategies are a promising solution to the grand challenge of equipping continuum soft robots with motor intelligence. However, finite-dimensional models of these systems are inherently inaccurate, thus posing pressing robustness concerns. Moreover, the actuation space of soft robots is usually limited. This article aims at solving...
journal article 2024
document
Stella, F. (author), Della Santina, C. (author), Hughes, Josie (author)
The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter proposes a method to eliminate this limitation by leveraging the Piecewise Constant...
journal article 2024
document
Liu, J. (author), Borja, Pablo (author), Della Santina, C. (author)
This work concerns the application of physics-informed neural networks to the modeling and control of complex robotic systems. Achieving this goal requires extending physics-informed neural networks to handle nonconservative effects. These learned models are proposed to combine with model-based controllers originally developed with first...
journal article 2024
document
Castañeda, Theophil Spiegeler (author), Horstman, Bart (author), Capsi-Morales, Patricia (author), Della Santina, C. (author), Piazza, Cristina (author)
Adopting compliant structures holds the potential to enhance the robustness and interaction capabilities of the next generation of bionic limbs. Although researchers have proficiently explored this approach in the design of artificial hands, they devoted little attention to the development of more proximal joints. This work presents a...
conference paper 2024
document
Tavio Y Cabrera, E.J. (author), Della Santina, C. (author), Borja, Pablo (author)
The compliant nature of soft robots is appealing to a wide range of applications. However, this compliant property also poses several control challenges, e.g., how to deal with infinite degrees of freedom and highly nonlinear behaviors. This paper proposes a hybrid controller for a pneumatic-actuated soft robot. To this end, a model-based...
conference paper 2024
document
Stölzle, Maximilian (author), Baberwal, S. (author), Rus, Daniela (author), Coyle, Shirley (author), Della Santina, C. (author)
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 risks when rigid robots operate near humans. This work presents an alternative pathway towards...
conference paper 2024
document
Pustina, P. (author), Calzolari, Davide (author), Albu-Schaffer, Alin (author), Luca, Alessandro De (author), Della Santina, C. (author)
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 reduced-order models (ROMs), which employ as few DoFs as possible while still accurately capturing...
conference paper 2024
document
Walker, K.L.W. (author), Della Santina, C. (author), Giorgio-Serchi, Francesco (author)
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep water scenarios. This work deals with equipping soft arms with the intelligence necessary to move precisely in wave-dominated environments, such as shallow waters...
conference paper 2024
document
Stella, F. (author), Pei, Guanran (author), Meebed, Omar (author), Guan, Qinghua (author), Bing, Zhenshan (author), Della Santina, C. (author), Hughes, Josie (author)
Soft robots promise groundbreaking advancements across various industries. However, soft robots are susceptible to wear, fatigue, and material degradation. Their durability and long-term reliability are often overlooked, despite being critical for the successful deployment of these systems in real-world applications. This article contributes...
conference paper 2024
document
Vicari, Andrea (author), Obayashi, Nana (author), Stella, F. (author), Raynaud, Gaetan (author), Mulleners, Karen (author), Della Santina, C. (author), Hughes, Josie (author)
The success of soft robots in displaying emergent behaviors is tightly linked to the compliant interaction with the environment. However, to exploit such phenomena, proprioceptive sensing methods which do not hinder their softness are needed. In this work we propose a new sensing approach for soft underwater slender structures based on embedded...
conference paper 2023
document
Drijver, Eveline (author), Pérez-Dattari, Rodrigo (author), Kober, J. (author), Della Santina, C. (author), Ajanović, Z. (author)
Intelligent manufacturing is becoming increasingly important due to the growing demand for maximizing productivity and flexibility while minimizing waste and lead times. This work investigates automated secondary robotic food packaging solutions that transfer food products from the conveyor belt into containers. A major problem in these...
conference paper 2023
document
Piqué, F. (author), Stella, F. (author), Hughes, Josie (author), Falotico, Egidio (author), Della Santina, C. (author)
Elephants and other animals heavily rely on the sense of smell to operate. Soft robots would also benefit from an artificial sense of smell, which could be helpful in typical soft robotic tasks such as search and rescue, pipe inspection, and all the tasks involving unstructured environments. This work proposes an artificial nose on a soft...
conference paper 2023
document
Stölzle, Maximilian (author), Chin, Lillian (author), Truby, Ryan (author), Rus, Daniela (author), Della Santina, C. (author)
Electrically-actuated continuum soft robots based on Handed Shearing Auxetics (HSAs) promise rapid actuation capabilities while preserving structural compliance. However, the foundational models of these novel actuators required for precise control strategies are missing. This paper proposes two key components extending discrete Cosserat rod...
conference paper 2023
document
Stella, F. (author), Guan, Qinghua (author), Della Santina, C. (author), Hughes, Josie (author)
Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and manipulation capabilities and safe human-robot interactions. However, the interactions, or...
conference paper 2023
document
Drost, S.C. (author), Pustina, P. (author), Angelini, Franco (author), De Luca, Alessandro (author), Smit, G. (author), Della Santina, C. (author)
Performing precise, repetitive motions is essential in many robotic and automation systems. Iterative learning control (ILC) allows determining the necessary control command by using a very rough system model to speed up the process. Functional iterative learning control is a novel technique that promises to solve several limitations of classic...
conference paper 2023
document
Heeringa, W.M. (author), Della Santina, C. (author), Smit, G. (author)
Industrial automation calls for precise tasks with cycle times reduced to the minimum. At the same time, when handling delicate products such as fruits and vegetables, accelerations must be kept low to keep interaction forces under a certain threshold to avoid damage. This trade-off hinders the penetration of automation in many relevant...
conference paper 2023
document
Stella, F. (author), Della Santina, C. (author), Hughes, Josie (author)
We show that large language models (LLMs), such as ChatGPT, can guide the robot design process, on both the conceptual and technical level, and we propose new human–AI co-design strategies and their societal implications.
journal article 2023
Searched for: +
(1 - 20 of 75)

Pages

List view
Grid view