Image de couverture de livre

Model-based Optimal Control for Rigid-Soft Underactuated Systems

Fuente: arXiv

Enregistré dans:

Détails bibliographiques
Auteurs principaux:	Caradonna, Daniele, Nair, Nikhil, Mathew, Anup Teejo, Talegón, Daniel Feliu, Afgan, Imran, Falotico, Egidio, Della Santina, Cosimo, Renda, Federico
Format:	Preprint
Publié:	2026
Sujets:	Robotics
Accès en ligne:	Acceder al recurso
Tags:	Ajouter un tag Pas de tags, Soyez le premier à ajouter un tag!

Documents similaires

Soft Synergies: Model Order Reduction of Hybrid Soft-Rigid Robots via Optimal Strain Parameterization
par: Alkayas, Abdulaziz Y., et autres
Publié: (2024)

Real-time Dynamics of Soft Manipulators with Cross-section Inflation: Application to the Octopus Muscular Hydrostat
par: Sun, Yuchen, et autres
Publié: (2024)

Collision Detection with Analytical Derivatives of Contact Kinematics
par: Mathew, Anup Teejo, et autres
Publié: (2026)

Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots
par: Mathew, Anup Teejo, et autres
Publié: (2024)

Coordinated Manipulation of Hybrid Deformable-Rigid Objects in Constrained Environments
par: Peringal, Anees, et autres
Publié: (2026)

Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning
par: Tiburzio, Sebastien, et autres
Publié: (2024)

Reconciling distributed compliance with high-performance control in continuum soft robotics
par: Perfetta, Vito Daniele, et autres
Publié: (2026)

SoFFT: Spatial Fourier Transform for Modeling Continuum Soft Robots
par: Caradonna, Daniele, et autres
Publié: (2025)

ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration
par: Mathew, Anup Teejo, et autres
Publié: (2025)

Rod models in continuum and soft robot control: a review
par: Alessi, Carlo, et autres
Publié: (2024)

Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots
par: Patterson, Zach J., et autres
Publié: (2023)

Learning User Interaction Forces using Vision for a Soft Finger Exosuit
par: Refai, Mohamed Irfan, et autres
Publié: (2025)

Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact
par: Patterson, Zach J., et autres
Publié: (2024)

Recursive Model-agnostic Inverse Dynamics of Serial Soft-Rigid Robots
par: Pustina, Pietro, et autres
Publié: (2024)

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
par: Pustina, Pietro, et autres
Publié: (2023)

Continual Learning for Multimodal Data Fusion of a Soft Gripper
par: Nilay Kushawaha, et autres
Publié: (2025)

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
par: Vezzi, Francecso, et autres
Publié: (2023)

Continual Learning for Multimodal Data Fusion of a Soft Gripper
par: Kushawaha, Nilay, et autres
Publié: (2024)

Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning
par: Apostolides, Georgios, et autres
Publié: (2025)

SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots
par: Zhang, Chuhan, et autres
Publié: (2025)

SENSE-STEP: Learning Sim-to-Real Locomotion for a Sensory-Enabled Soft Quadruped Robot
par: de Kam, Storm, et autres
Publié: (2026)

Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning
par: Montero, Mariano Ramírez, et autres
Publié: (2024)

Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control
par: Valadas, Ricardo, et autres
Publié: (2024)

An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots
par: Stölzle, Maximilian, et autres
Publié: (2023)

Towards Interpretable Visuo-Tactile Predictive Models for Soft Robot Interactions
par: Donato, Enrico, et autres
Publié: (2024)

Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space
par: Stölzle, Maximilian, et autres
Publié: (2024)

Continual Policy Distillation of Reinforcement Learning-based Controllers for Soft Robotic In-Hand Manipulation
par: Li, Lanpei, et autres
Publié: (2024)

Dynamic Manipulation of Deformable Objects in 3D: Simulation, Benchmark and Learning Strategy
par: Lan, Guanzhou, et autres
Publié: (2025)

Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators
par: Walker, Kyle L., et autres
Publié: (2024)

Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting
par: Elfferich, Johannes F., et autres
Publié: (2024)

Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control
par: Stölzle, Maximilian, et autres
Publié: (2024)

Infinite-Dimensional Closed-Loop Inverse Kinematics for Soft Robots via Neural Operators
par: Veil, Carina, et autres
Publié: (2026)

Domain Translation of a Soft Robotic Arm using Conditional Cycle Generative Adversarial Network
par: Kushawaha, Nilay, et autres
Publié: (2025)

A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects
par: Chen, Zixi, et autres
Publié: (2025)

Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions
par: Wong, Kiwan, et autres
Publié: (2025)

Zero-shot Whole-Body Manipulation with a Large-Scale Soft Robotic Torso via Guided Reinforcement Learning
par: Johnson, Curtis C., et autres
Publié: (2025)

Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds
par: Ding, Jiatao, et autres
Publié: (2025)

Sensorimotor Control Strategies for Tactile Robotics
par: Donato, Enrico, et autres
Publié: (2025)

Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
par: Piazza, Cristina, et autres
Publié: (2024)

PUMA: Deep Metric Imitation Learning for Stable Motion Primitives
par: Pérez-Dattari, Rodrigo, et autres
Publié: (2023)