Input Decoupling of Lagrangian Systems via Coordinate Transformation

General Characterization and its Application to Soft Robotics

Journal article (2024)

Authors

P. Pustina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Sapienza University of Rome
C. Della Santina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)
Frederic Boyer IMT Atlantique
Alessandro De Luca Sapienza University of Rome
Federico Renda Khalifa University of Science and Technology
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2024 P. Pustina, C. Della Santina, Frederic Boyer, Alessandro De Luca, Federico Renda
DOI: https://doi.org/10.1109/TRO.2024.3370089
Robots Dynamics Motion Control Soft robotics Robot kinematics Symmetric matrices Modeling, Control, and Learning for Soft Robots Mechanical systems Underactuated Robots Sufficient conditions Vectors
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Published Date

2024

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control