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Stölzle, Maximilian (author), Della Santina, C. (author)
abstract 2021
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Averta, Giuseppe (author), Arapi, Visar (author), Bicchi, Antonio (author), Della Santina, C. (author), Bianchi, Matteo (author)
The need for users’ safety and technology acceptability has incredibly increased with the deployment of co-bots physically interacting with humans in industrial settings, and for people assistance. A well-studied approach to meet these requirements is to ensure human-like robot motions and interactions. In this manuscript, we present a...
book chapter 2021
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Hughes, Josie (author), Stella, F. (author), Della Santina, C. (author), Rus, Daniela (author)
Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the...
book chapter 2021
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Della Santina, C. (author), Lakatos, Dominic (author), Bicchi, Antonio (author), Albu-Schaeffer, Alin (author)
Thanks to their body elasticity, articulated soft robots promise to produce effective and robust oscillations with low energy consumption. This in turn is an important feature which can be exploited in the execution of many tasks, as for example locomotion. Yet, an established theory and general techniques allowing to excite and sustain these...
book chapter 2021
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Ismail, Cynthia (author), Wiropranoto, Fabian (author), Takama, Takeshi (author), Della Santina, C. (author), Virla, Luis D. (author)
Technological innovation is considered to be one of the key strategies to maintain the global temperature below 2 °C. Since emerging and low-income countries are now responsible for reducing greenhouse gases (GHGs) under the Paris agreement, there is an implied need to balance their development mandate and climate change policies. This...
book chapter 2021
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Calzolari, Davide (author), Della Santina, C. (author), Albu-Schaffer, Alin (author)
This letter discusses an extension of the famous PD regulator implementing point to point motions with prescribed exponential rates of convergence. This is achieved by deriving a novel global exponential stability result, dealing with mechanical systems evolving on uni-dimensional invariant manifolds of the configuration space. The...
conference paper 2021
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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
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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
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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
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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
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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
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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
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Bredenbeck, A. (author), Della Santina, C. (author), Hamaza, S. (author)
Unmanned Aerial Vehicles (UAVs) are widely used for environmental surveying and exploration thanks to their maneuverability and accessibility. Until recently, however, these platforms were mainly used as passive systems that observe their environments visually and do not interact physically. The capability of UAVs to physically interact with...
conference paper 2022
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Cenceschi, Lorenzo (author), Angelini, Franco (author), Della Santina, C. (author), Bicchi, Antonio (author)
Online-Offline Iterative Learning Control provides an effective and robust solution to learn precise trajectory tracking when dealing with repetitive tasks. Yet, these algorithms were developed under the assumption that the relative degree between input and output is one. This prevents applications in many practically meaningful situations - e.g...
conference paper 2021
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Trumic, Maja (author), Della Santina, C. (author), Jovanovic, Kosta (author), Fagiolini, Adriano (author)
Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid...
conference paper 2021
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Della Santina, C. (author), Albu-Schaeffer, Alin (author)
Nonlinear modes are a well investigated concept in dynamical systems theory, extending the celebrated modal analysis of linear mechanical systems to nonlinear ones. The present work moves a first step in the direction of combining control theory and nonlinear modal analysis towards the implementation of hyper-efficient oscillatory behaviors...
conference paper 2021
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Besselaar, Lars (author), Della Santina, C. (author)
Many are the challenges that make robotic manipulation of deformable objects such a complex task. For example, to properly plan and execute a control action, a robot needs to understand how external forces will modify the deformation states of the object. Creating such an internal representation is even more complex in the typical situation...
conference paper 2022
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Sesselmann, Anna (author), Loeffl, Florian (author), Della Santina, C. (author), Roa, Maximo A. (author), Albu-Schaffer, Alin (author)
Robotic legs often lag behind the performance of their biological counterparts. The inherent passive dynamics of natural legs largely influences the locomotion and can be abstracted through the spring-loaded inverted pendulum (SLIP) model. This model is often approximated in physical robotic legs using a leg with minimal mass. Our work aims...
conference paper 2021
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Della Santina, C. (author)
We introduce here a novel under-actuated mechanical system motivated by recent advances in soft robotics. We derive its governing equations, discuss its properties, and consider a solution for the stabilization of its unstable equilibrium. The results we propose here are intended as a first step towards dealing with the much more challenging...
conference paper 2020
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Pollayil, Mathew Jose (author), Della Santina, C. (author), Mesesan, George (author), Englsberger, Johannes (author), Seidel, Daniel (author), Garabini, Manolo (author), Ott, Christian (author), Bicchi, Antonio (author), Albu-Schaffer, Alin (author)
Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planning method that aims to unify traditional...
conference paper 2022
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