Dexterity augmentation on a synergistic hand: The Pisa/IIT SoftHand+. - Cosimo Della Santina; Giorgio Grioli; Manuel G. Catalano; Alberto Brando; Antonio Bicchi (Humanoids, 2015)

Toward an adaptive foot for natural walking. - Cristina Piazza; Cosimo Della Santina; Gian Maria Gasparri; Manuel G. Catalano; Giorgio Grioli; Manolo Garabini; Antonio Bicchi (Humanoids, 2016)

SoftHand Pro-D: Matching dynamic content of natural user commands with hand embodiment for enhanced prosthesis control. - Cristina Piazza; Cosimo Della Santina; Manuel G. Catalano; Giorgio Grioli; Manolo Garabini; Antonio Bicchi (ICRA, 2016)

Towards minimum-information adaptive controllers for robot manipulators. - Tobia Marcucci; Cosimo Della Santina; Marco Gabiccini; Antonio Bicchi (ACC, 2017)

Design, control and validation of the variable stiffness exoskeleton FLExo. - Sariah Mghames; Marco Laghi; Cosimo Della Santina; Manolo Garabini; Manuel G. Catalano; Giorgio Grioli; Antonio Bicchi (ICORR, 2017)

Preliminary results toward a naturally controlled multi-synergistic prosthetic hand. - Matteo Rossi; Cosimo Della Santina; Cristina Piazza; Giorgio Grioli; Manuel G. Catalano; Antonio Bicchi (ICORR, 2017)

Design of an under-actuated wrist based on adaptive synergies. - Simona Casini; Vinicio Tincani; Giuseppe Averta; Mattia Poggiani; Cosimo Della Santina; Edoardo Battaglia; Manuel G. Catalano; Matteo Bianchi 002; Giorgio Grioli; Antonio Bicchi (ICRA, 2017)

From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands. - Giuseppe Averta; Cosimo Della Santina; Edoardo Battaglia; Simone Ciotti; Visar Arapi; Simone Fani; Matteo Bianchi 002 (ICUMT, 2017)

Estimating contact forces from postural measures in a class of under-actuated robotic hands. - Cosimo Della Santina; Cristina Piazza; Gaspare Santaera; Giorgio Grioli; Manuel G. Catalano; Antonio Bicchi (IROS, 2017)

Cerebellar-inspired learning rule for gain adaptation of feedback controllers. - Ivan Herreros; Xerxes D. Arsiwalla; Cosimo Della Santina; Jordi-Ysard Puigbo; Antonio Bicchi; Paul F. M. J. Verschure (MED, 2017)

Postural Hand Synergies during Environmental Constraint Exploitation. - Cosimo Della Santina; Matteo Bianchi 002; Giuseppe Averta; Simone Ciotti; Visar Arapi; Simone Fani; Edoardo Battaglia; Manuel G. Catalano; Marco Santello; Antonio Bicchi (Frontiers Neurorobotics, 2017)

Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis. - Giuseppe Averta; Cosimo Della Santina; Edoardo Battaglia; Federica Felici; Matteo Bianchi 002; Antonio Bicchi (Frontiers Robotics AI, 2017)

Controlling Soft Robots: Balancing Feedback and Feedforward Elements. - Cosimo Della Santina; Matteo Bianchi 002; Giorgio Grioli; Franco Angelini; Manuel G. Catalano; Manolo Garabini; Antonio Bicchi (IEEE Robotics Autom. Mag., 2017)

The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots. - Cosimo Della Santina; Cristina Piazza; Gian Maria Gasparri; Manuel Bonilla; Manuel G. Catalano; Giorgio Grioli; Manolo Garabini; Antonio Bicchi (IEEE Robotics Autom. Mag., 2017)

Dynamic control of soft robots interacting with the environment. - Cosimo Della Santina; Robert K. Katzschmann; Antonio Bicchi; Daniela Rus (RoboSoft, 2018)

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Soft Robots. - Cosimo Della Santina; Dominic Lakatos; Antonio Bicchi; Alin Albu-Schäffer (CoRR, 2018)

DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information. - Visar Arapi; Cosimo Della Santina; Davide Bacciu; Matteo Bianchi 002; Antonio Bicchi (Frontiers Neurorobotics, 2018)

Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment. - Franco Angelini; Cosimo Della Santina; Manolo Garabini; Matteo Bianchi 002; Gian Maria Gasparri; Giorgio Grioli; Manuel G. Catalano; Antonio Bicchi (IEEE Trans. Robotics, 2018)

Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2. - Cosimo Della Santina; Cristina Piazza; Giorgio Grioli; Manuel G. Catalano; Antonio Bicchi (IEEE Trans. Robotics, 2018)

A Neuromuscular-Model Based Control Strategy to Minimize Muscle Effort in Assistive Exoskeletons. - Sariah Mghames; Cosimo Della Santina; Manolo Garabini; Antonio Bicchi (ICORR, 2019)

Exact Modal Characterization of the Non Conservative Non Linear Radial Mass Spring System. - Cosimo Della Santina; Dominic Lakatos; Antonio Bicchi; Alin Albu-Schäffer (ICRA, 2019)

Dynamic Control of Soft Robots with Internal Constraints in the Presence of Obstacles. - Cosimo Della Santina; Antonio Bicchi; Daniela Rus (IROS, 2019)

Dynamic Motion Control of Multi-Segment Soft Robots Using Piecewise Constant Curvature Matched with an Augmented Rigid Body Model. - Robert K. Katzschmann; Cosimo Della Santina; Yasunori Toshimitsu; Antonio Bicchi; Daniela Rus (RoboSoft, 2019)

Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs. - Michele Maimeri; Cosimo Della Santina; Cristina Piazza; Matteo Rossi; Manuel G. Catalano; Giorgio Grioli (Frontiers Neurorobotics, 2019)

Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands. - Cosimo Della Santina; Visar Arapi; Giuseppe Averta; Francesca Damiani; Gaia Fiore; Alessandro Settimi; Manuel G. Catalano; Davide Bacciu; Antonio Bicchi; Matteo Bianchi 002 (IEEE Robotics Autom. Lett., 2019)

Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach. - Cosimo Della Santina; Lucia Pallottino; Daniela Rus; Antonio Bicchi (IEEE Robotics Autom. Lett., 2019)

The Soft Inverted Pendulum with Affine Curvature. - Cosimo Della Santina (CDC, 2020)

Modeling Human Motor Skills to Enhance Robots' Physical Interaction. - Giuseppe Averta; Visar Arapi; Antonio Bicchi; Cosimo Della Santina; Matteo Bianchi 002 (HFR, 2020)

A technical framework for human-like motion generation with autonomous anthropomorphic redundant manipulators. - Giuseppe Averta; Danilo Caporale; Cosimo Della Santina; Antonio Bicchi; Matteo Bianchi 002 (ICRA, 2020)

Sensing Soft Robot Shape Using IMUs: An Experimental Investigation. - Josie Hughes; Francesco Stella; Cosimo Della Santina; Daniela Rus (ISER, 2020)

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft Robots. - Cosimo Della Santina; Dominic Lakatos; Antonio Bicchi; Alin Albu-Schäffer (ISER, 2020)

Iterative Learning Control as a Framework for Human-Inspired Control with Bio-mimetic Actuators. - Franco Angelini; Matteo Bianchi 002; Manolo Garabini; Antonio Bicchi; Cosimo Della Santina (Living Machines, 2020)

To grasp or not to grasp: an end-to-end deep-learning approach for predicting grasping failures in soft hands. - Visar Arapi; Yujie Zhang; Giuseppe Averta; Manuel G. Catalano; Daniela Rus; Cosimo Della Santina; Matteo Bianchi 002 (RoboSoft, 2020)

Extensible High Force Manipulator For Complex Exploration. - Josie Hughes; Cosimo Della Santina; Daniela Rus (RoboSoft, 2020)

Modeling Previous Trial Effect in Human Manipulation through Iterative Learning Control. - Lorenzo Cenceschi; Cosimo Della Santina; Giuseppe Averta; Manolo Garabini; Qiushi Fu; Marco Santello; Matteo Bianchi 002; Antonio Bicchi (Adv. Intell. Syst., 2020)

A review on nonlinear modes in conservative mechanical systems. - Alin Albu-Schäffer; Cosimo Della Santina (Annu. Rev. Control., 2020)

Trajectory Tracking of Optimal Social Distancing Strategies with Application to a CoVid-19 Scenario. - Francesco Di Lauro; István Zoltán Kiss; Daniela Rus; Cosimo Della Santina (CoRR, 2020)

Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots. - Franco Angelini; Cosimo Della Santina; Manolo Garabini; Matteo Bianchi 002; Antonio Bicchi (Frontiers Robotics AI, 2020)

Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment. - Cosimo Della Santina; Robert K. Katzschmann; Antonio Bicchi; Daniela Rus (Int. J. Robotics Res., 2020)

Time Generalization of Trajectories Learned on Articulated Soft Robots. - Franco Angelini; Riccardo Mengacci; Cosimo Della Santina; Manuel G. Catalano; Manolo Garabini; Antonio Bicchi; Giorgio Grioli (IEEE Robotics Autom. Lett., 2020)

Exploiting Adaptability in Soft Feet for Sensing Contact Forces. - Domenico Mura; Cosimo Della Santina; Cristina Piazza; Irene Frizza; Cecilia Morandi; Manolo Garabini; Giorgio Grioli; Manuel Giuseppe Catalano (IEEE Robotics Autom. Lett., 2020)

On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control. - Cosimo Della Santina; Antonio Bicchi; Daniela Rus (IEEE Robotics Autom. Lett., 2020)

Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case. - Cosimo Della Santina; Daniela Rus (IEEE Robotics Autom. Lett., 2020)

Data-Driven Disturbance Observers for Estimating External Forces on Soft Robots. - Cosimo Della Santina; Ryan L. Truby; Daniela Rus (IEEE Robotics Autom. Lett., 2020)

Distributed Proprioception of 3D Configuration in Soft, Sensorized Robots via Deep Learning. - Ryan L. Truby; Cosimo Della Santina; Daniela Rus (IEEE Robotics Autom. Lett., 2020)

Iterative Learning in Functional Space for Non-Square Linear Systems. - Cosimo Della Santina; Franco Angelini (CDC, 2021)

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. - Cosimo Della Santina; Dominic Lakatos; Antonio Bicchi; Alin Albu-Schäffer (CDC, 2021)

PIσ - PIσ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree. - Lorenzo Cenceschi; Franco Angelini; Cosimo Della Santina; Antonio Bicchi (ECC, 2021)

Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg. - Anna Sesselmann; Florian Loeffl; Cosimo Della Santina; Máximo A. Roa; Alin Albu-Schäffer (IROS, 2021)

Model-Based Control Can Improve the Performance of Artificial Cilia. - Edoardo Milana; Francesco Stella; Benjamin Gorissen; Dominiek Reynaerts; Cosimo Della Santina (RoboSoft, 2021)

Estimating the State of Epidemics Spreading with Graph Neural Networks. - Abhishek Tomy; Matteo Razzanelli; Francesco Di Lauro; Daniela Rus; Cosimo Della Santina (CoRR, 2021)

Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges. - Cosimo Della Santina; Christian Duriez; Daniela Rus (CoRR, 2021)

Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia. - Davide Calzolari; Cosimo Della Santina; Alin Albu-Schäffer (IEEE Control. Syst. Lett., 2021)

PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case. - Davide Calzolari; Cosimo Della Santina; Alin Albu-Schäffer (IEEE Control. Syst. Lett., 2021)

Covid-19 and Flattening the Curve: A Feedback Control Perspective. - Francesco Di Lauro; István Zoltán Kiss; Daniela Rus; Cosimo Della Santina (IEEE Control. Syst. Lett., 2021)

Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization. - Cosimo Della Santina; Alin Albu-Schäffer (IEEE Control. Syst. Lett., 2021)

Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. - Maja Trumic; Cosimo Della Santina; Kosta Jovanovic; Adriano Fagiolini (IEEE Control. Syst. Lett., 2021)

Editorial: On the Planning, Control, and Perception of Soft Robotic End-Effectors. - Giuseppe Averta; Cosimo Della Santina; Fanny Ficuciello; Máximo A. Roa; Matteo Bianchi 002 (Frontiers Robotics AI, 2021)

Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots. - Cosimo Della Santina; Robert K. Katzschmann; Antonio Bicchi; Daniela Rus (Int. J. Robotics Res., 2021)

Understanding Human Manipulation With the Environment: A Novel Taxonomy for Video Labelling. - Visar Arapi; Cosimo Della Santina; Giuseppe Averta; Antonio Bicchi; Matteo Bianchi 002 (IEEE Robotics Autom. Lett., 2021)

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case. - Luigi Bono Bonacchi; Máximo A. Roa; Anna Sesselmann; Florian Loeffl; Alin Albu-Schäffer; Cosimo Della Santina (IEEE Robotics Autom. Lett., 2021)

Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions. - Cosimo Della Santina; Davide Calzolari; Alessandro Massimo Giordano; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2021)

Single-Leg Forward Hopping via Nonlinear Modes. - Davide Calzolari; Cosimo Della Santina; Alessandro M. Giordano; Alin Albu-Schäffer (ACC, 2022)

Minimalistic Soft Exosuit for Assisting the Shoulder via Biomechanics-Aware Optimization. - Sagar Joshi; Irene Beck; Ajay Seth; Cosimo Della Santina (Humanoids, 2022)

Planning Natural Locomotion for Articulated Soft Quadrupeds. - Mathew Jose Pollayil; Cosimo Della Santina; George Mesesan; Johannes Englsberger; Daniel Seidel; Manolo Garabini; Christian Ott 001; Antonio Bicchi; Alin Albu-Schäffer (ICRA, 2022)

One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model. - Lars Besselaar; Cosimo Della Santina (RoboSoft, 2022)

Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity. - Pablo Borja 001; Azita Dabiri; Cosimo Della Santina (RoboSoft, 2022)

Sensing soft robots' shape with cameras: an investigation on kinematics-aware SLAM. - Emanuele Riccardo Rosi; Maximilian Stölzle; Fabio Solari; Cosimo Della Santina (RoboSoft, 2022)

Soft Robotic Grippers for Crop Handling or Harvesting: A Review. - Johannes F. Elfferich; Dimitra Dodou; Cosimo Della Santina (IEEE Access, 2022)

Learning Assembly Tasks in a Few Minutes by Combining Impedance Control and Residual Recurrent Reinforcement Learning. - Padmaja Kulkarni; Jens Kober; Robert Babuska; Cosimo Della Santina (Adv. Intell. Syst., 2022)

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC. - Francesco Stella; Qinghua Guan; Jinsong Leng; Cosimo Della Santina; Josie Hughes (CoRR, 2022)

On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems. - Pablo Borja 001; Cosimo Della Santina; Azita Dabiri (IEEE Control. Syst. Lett., 2022)

Piston-Driven Pneumatically-Actuated Soft Robots: Modeling and Backstepping Control. - Maximilian Stölzle; Cosimo Della Santina (IEEE Control. Syst. Lett., 2022)

Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot. - Filip Bjelonic; Arne Sachtler; Alin Albu-Schäffer; Cosimo Della Santina (IEEE Robotics Autom. Lett., 2022)

Feedback Regulation of Elastically Decoupled Underactuated Soft Robots. - Pietro Pustina; Cosimo Della Santina; Alessandro De Luca 001 (IEEE Robotics Autom. Lett., 2022)

An Experimental Validation of the Polynomial Curvature Model: Identification and Optimal Control of a Soft Underwater Tentacle. - Francesco Stella; Nana Obayashi; Cosimo Della Santina; Josie Hughes (IEEE Robotics Autom. Lett., 2022)

Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation: Morphology Driven Control of a Swimming Robot. - Kai Junge; Nana Obayashi; Francesco Stella; Cosimo Della Santina; Josie Hughes (IEEE Robotics Autom. Mag., 2022)

Robotic Packaging Optimization with Reinforcement Learning. - Eveline Drijver; Rodrigo Pérez-Dattari; Jens Kober; Cosimo Della Santina; Zlatan Ajanovic (CASE, 2023)

A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot. - Emilio Tavio y Cabrera; Cosimo Della Santina; Pablo Borja 001 (HFR, 2023)

BICEP: A Bio-Inspired Compliant Elbow Prosthesis. - Theophil Spiegeler Castañeda; Bart Horstman; Patricia Capsi-Morales; Cosimo Della Santina; Cristina Piazza (HFR, 2023)

Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm. - Sjoerd Drost; Pietro Pustina; Franco Angelini; Alessandro De Luca 001; Gerwin Smit; Cosimo Della Santina (ICRA, 2023)

Robotic Fabric Flattening with Wrinkle Direction Detection. - Yulei Qiu; Jihong Zhu 002; Cosimo Della Santina; Michael Gienger; Jens Kober (ISER, 2023)

An Experimental Study of Model-Based Control for Planar Handed Shearing Auxetics Robots. - Maximilian Stölzle; Daniela Rus; Cosimo Della Santina (ISER, 2023)

FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects. - Willem Heeringa; Cosimo Della Santina; Gerwin Smit (RoboSoft, 2023)

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control. - Francesco Pique; Francesco Stella; Josie Hughes; Egidio Falotico; Cosimo Della Santina (RoboSoft, 2023)

Piecewise Affine Curvature model: a Reduced-Order Model for Soft Robot-Environment Interaction Beyond PCC. - Francesco Stella; Qinghua Guan; Cosimo Della Santina; Josie Hughes (RoboSoft, 2023)

Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation. - Maximilian Stölzle; Lillian Chin; Ryan L. Truby; Daniela Rus; Cosimo Della Santina (RoboSoft, 2023)

Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization. - Andrea Vicari; Nana Obayashi; Francesco Stella; Gaetan Raynaud; Karen Mulleners; Cosimo Della Santina; Josie Hughes (RoboSoft, 2023)

Robotic Monitoring of Habitats: The Natural Intelligence Approach. - Franco Angelini; Pierangela Angelini; Claudia Angiolini; Simonetta Bagella; Fabio Bonomo; Marco Caccianiga; Cosimo Della Santina; Daniela Gigante; Marco Hutter 001; Thrishantha Nanayakkara; Paolo Remagnino; Diego Torricelli; et al. (IEEE Access, 2023)

Can Large Language Models design a Robot? - Francesco Stella; Cosimo Della Santina; Josie Hughes (CoRR, 2023)

On the Collocated Form with Input Decoupling of Lagrangian Systems. - Pietro Pustina; Cosimo Della Santina; Frédéric Boyer; Alessandro De Luca 001; Federico Renda (CoRR, 2023)

Deep Metric Imitation Learning for Stable Motion Primitives. - Rodrigo Pérez-Dattari; Cosimo Della Santina; Jens Kober (CoRR, 2023)

NiSNN-A: Non-iterative Spiking Neural Networks with Attention with Application to Motor Imagery EEG Classification. - Chuhan Zhang; Wei Pan 004; Cosimo Della Santina (CoRR, 2023)

On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control. - Maja Trumic; Cosimo Della Santina; Kosta Jovanovic; Adriano Fagiolini (IEEE Control. Syst. Lett., 2023)

P-satI-D Shape Regulation of Soft Robots. - Pietro Pustina; Pablo Borja 001; Cosimo Della Santina; Alessandro De Luca 001 (IEEE Robotics Autom. Lett., 2023)

Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped. - Davide Calzolari; Cosimo Della Santina; Alessandro M. Giordano; Annika Schmidt; Alin Albu-Schäffer (IEEE Robotics Autom. Lett., 2023)

How can LLMs transform the robotic design process? - Francesco Stella; Cosimo Della Santina; Josie Hughes (Nat. Mac. Intell., 2023)

A Provably Stable Iterative Learning Controller for Continuum Soft Robots. - Michele Pierallini; Francesco Stella; Franco Angelini; Bastian Deutschmann; Josie Hughes; Antonio Bicchi; Manolo Garabini; Cosimo Della Santina (IEEE Robotics Autom. Lett., 2023)

Random Oscillators Network for Time Series Processing. - Andrea Ceni; Andrea Cossu; Maximilian W. Stölzle; Jingyue Liu 001; Cosimo Della Santina; Davide Bacciu; Claudio Gallicchio (AISTATS, 2024)

Development of a Variable Stiffness Mechanism with a Linear Output for Exosuit Integration. - Tim Verburg; Sagar Joshi; Ajay Seth; Cosimo Della Santina (BioRob, 2024)

EMERGE - Emergent Awareness from Minimal Collectives. - Davide Bacciu; Vincenzo Ambriola; Bahador Bahrami; Andrea Ceni; Andrea Cossu; Valerio De Caro; Cosimo Della Santina; Ophelia Deroy; Claudio Gallicchio; Riccardo Guidotti; Sabine Hauert; Simon Jones; et al. (ERF (1), 2024)

Awareness in Robotics: An Early Perspective from the Viewpoint of the EIC Pathfinder Challenge "Awareness Inside". - Cosimo Della Santina; Carlos Hernández Corbato; Burak Sisman; Luis A. Leiva; Ioannis Arapakis; Michalis Vakalellis; Jean Vanderdonckt; Luis Fernando D'Haro; Guido Manzi; Cristina Becchio; Aïda Elamrani; Mohsen Alirezaei; et al. (ERF (1), 2024)

Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. - Arne Sachtler; Davide Calzolari; Maximilian Raff; Annika Schmidt; Yannik P. Wotte; Cosimo Della Santina; C. David Remy; Alin Albu-Schäffer (ECC, 2024)

Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots. - Zach J. Patterson; Cosimo Della Santina; Daniela Rus (ICRA, 2024)

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds. - Francesco Vezzi; Jiatao Ding; Antonin Raffin; Jens Kober; Cosimo Della Santina (ICRA, 2024)

Learning Multi-Reference Frame Skills from Demonstration with Task-Parameterized Gaussian Processes. - Mariano Ramírez Montero; Giovanni Franzese; Jens Kober; Cosimo Della Santina (IROS, 2024)

IMU Based Pose Reconstruction and Closed-loop Control for Soft Robotic Arms. - Guanran Pei; Francesco Stella; Omar Meebed; Zhenshan Bing; Cosimo Della Santina; Josie Hughes (IROS, 2024)

An Empirical Investigation on Variational Autoencoder-Based Dynamic Modeling of Deformable Objects from RGB Data. - Tomás Coleman; Robert Babuska; Jens Kober; Cosimo Della Santina (MED, 2024)

Input-to-State Stable Coupled Oscillator Networks for Closed-form Model-based Control in Latent Space. - Maximilian Stölzle; Cosimo Della Santina (NeurIPS, 2024)

Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots. - Pietro Pustina; Davide Calzolari; Alin Albu-Schäffer; Alessandro De Luca 001; Cosimo Della Santina (RoboSoft, 2024)

Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials. - Francesco Stella; Guanran Pei; Omar Meebed; Qinghua Guan; Zhenshan Bing; Cosimo Della Santina; Josie Hughes (RoboSoft, 2024)

Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control. - Maximilian Stölzle; Sonal Santosh Baberwal; Daniela Rus; Shirley Coyle; Cosimo Della Santina (RoboSoft, 2024)

Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators. - Kyle L. Walker; Cosimo Della Santina; Francesco Giorgio-Serchi (RoboSoft, 2024)

Unified Inverse Dynamics of Modular Serial Mechanical Systems with Application to Soft Robotics. - Pietro Pustina; Cosimo Della Santina; Alessandro De Luca 001 (CoRR, 2024)

Model-based Manipulation of Deformable Objects with Non-negligible Dynamics as Shape Regulation. - Sebastien Tiburzio; Tomás Coleman; Cosimo Della Santina (CoRR, 2024)

Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting. - Johannes F. Elfferich; Ebrahim Shahabi; Cosimo Della Santina; Dimitra Dodou (CoRR, 2024)

Exponentially Stable Projector-based Control of Lagrangian Systems with Gaussian Processes. - Giulio Evangelisti; Cosimo Della Santina; Sandra Hirche (CoRR, 2024)

Design and Control of Modular Soft-Rigid Hybrid Manipulators with Self-Contact. - Zach J. Patterson; Emily R. Sologuren; Cosimo Della Santina; Daniela Rus (CoRR, 2024)

Leveraging LLMs, Graphs and Object Hierarchies for Task Planning in Large-Scale Environments. - Rodrigo Pérez-Dattari; Zhaoting Li; Robert Babuska; Jens Kober; Cosimo Della Santina (CoRR, 2024)

ILeSiA: Interactive Learning of Situational Awareness from Camera Input. - Petr Vanc; Giovanni Franzese; Jan Kristof Behrens; Cosimo Della Santina; Karla Stépánová; Jens Kober (CoRR, 2024)

Mastering Contact-rich Tasks by Combining Soft and Rigid Robotics with Imitation Learning. - Mariano Ramírez Montero; Ebrahim Shahabi; Giovanni Franzese; Jens Kober; Barbara Mazzolai; Cosimo Della Santina (CoRR, 2024)

Neural Autoencoder-Based Structure-Preserving Model Order Reduction and Control Design for High-Dimensional Physical Systems. - Marco Lepri; Davide Bacciu; Cosimo Della Santina (IEEE Control. Syst. Lett., 2024)

Model-Based Control for Soft Robots With System Uncertainties and Input Saturation. - Xiangyu Shao; Pietro Pustina; Maximilian Stölzle; Guanghui Sun; Alessandro De Luca 001; Ligang Wu 001; Cosimo Della Santina (IEEE Trans. Ind. Electron., 2024)

Robust Quadrupedal Jumping With Impact-Aware Landing: Exploiting Parallel Elasticity. - Jiatao Ding; Vassil Atanassov; Edoardo Panichi; Jens Kober; Cosimo Della Santina (IEEE Trans. Robotics, 2024)

Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains. - Cristina Piazza; Cosimo Della Santina; Giorgio Grioli; Antonio Bicchi; Manuel G. Catalano (IEEE Trans. Robotics, 2024)

Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics. - Pietro Pustina; Cosimo Della Santina; Frédéric Boyer; Alessandro De Luca 001; Federico Renda (IEEE Trans. Robotics, 2024)

Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning. - Jiatao Ding; Mees A. van Löben Sels; Franco Angelini; Jens Kober; Cosimo Della Santina (IEEE Robotics Autom. Lett., 2024)

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering. - Francesco Stella; Cosimo Della Santina; Josie Hughes (IEEE Robotics Autom. Lett., 2024)

Physics-Informed Neural Networks to Model and Control Robots: A Theoretical and Experimental Investigation. - Jingyue Liu 001; Pablo Borja 001; Cosimo Della Santina (Adv. Intell. Syst., 2024)

Model and Control of R-Soft Inverted Pendulum. - Daniele Caradonna; Michele Pierallini; Cosimo Della Santina; Franco Angelini; Antonio Bicchi (IEEE Robotics Autom. Lett., 2024)

Shared Awareness Across Domain-Specific Artificial Intelligence: An Alternative to Domain-General Intelligence and Artificial Consciousness. - Ophelia Deroy; Davide Bacciu; Bahador Bahrami; Cosimo Della Santina; Sabine Hauert (Adv. Intell. Syst., 2024)

PUMA: Deep Metric Imitation Learning for Stable Motion Primitives. - Rodrigo Pérez-Dattari; Cosimo Della Santina; Jens Kober (Adv. Intell. Syst., 2024)

TamedPUMA: safe and stable imitation learning with geometric fabrics. - Saray Bakker; Rodrigo Pérez-Dattari; Cosimo Della Santina; Wendelin Böhmer; Javier Alonso-Mora (L4DC, 2025)

3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers. - Siebe J. Schouten; Tomas Steenman; Rens File; Merlijn Den Hartog; Aimée Sakes; Cosimo Della Santina; Kirsten Lussenburg; Ebrahim Shahabi (RoboSoft, 2025)

Learning Low-Dimensional Strain Models of Soft Robots by Looking at the Evolution of Their Shape with Application to Model-Based Control. - Ricardo Valadas; Maximilian Stölzle; Jingyue Liu 001; Cosimo Della Santina (RoboSoft, 2025)

SpikingSoft: A Spiking Neuron Controller for Bio-inspired Locomotion with Soft Snake Robots. - Chuhan Zhang; Cong Wang; Wei Pan 004; Cosimo Della Santina (RoboSoft, 2025)

Synergy-based robotic quadruped leveraging passivity for natural intelligence and behavioural diversity. - Francesco Stella; Mickaël M. Achkar; Cosimo Della Santina; Josie Hughes (Nat. Mac. Intell., 2025)

Physical control: A new avenue to achieve intelligence in soft robotics. - Edoardo Milana; Cosimo Della Santina; Benjamin Gorissen; Philipp Rothemund (Sci. Robotics, 2025)

Self-Attention Enhanced Dynamics Learning and Adaptive Fractional-Order Control for Continuum Soft Robots With System Uncertainties. - Xiangyu Shao; Linke Xu; Guanghui Sun; Weiran Yao; Ligang Wu 001; Cosimo Della Santina (IEEE Trans Autom. Sci. Eng., 2025)

Generalizable Motion Policies Through Keypoint Parameterization and Transportation Maps. - Giovanni Franzese; Ravi Prakash 002; Cosimo Della Santina; Jens Kober (IEEE Trans. Robotics, 2025)

Real-Time Generation of Near-Minimum-Energy Trajectories via Constraint-Informed Residual Learning. - Domenico Dona'; Giovanni Franzese; Cosimo Della Santina; Paolo Boscariol; Basilio Lenzo (CoRR, 2025)

BerryTwist: A Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting. - Johannes F. Elfferich; Ebrahim Shahabi; Cosimo Della Santina; Dimitra Dodou (IEEE Robotics Autom. Lett., 2025)

Beyond Behavior Cloning: Robustness through Interactive Imitation and Contrastive Learning. - Zhaoting Li; Rodrigo Pérez-Dattari; Robert Babuska; Cosimo Della Santina; Jens Kober (CoRR, 2025)

MUKCa: Accurate and Affordable Cobot Calibration Without External Measurement Devices. - Giovanni Franzese; Max Spahn; Jens Kober; Cosimo Della Santina (CoRR, 2025)

Explosive Jumping with Rigid and Articulated Soft Quadrupeds via Example Guided Reinforcement Learning. - Georgios Apostolides; Wei Pan 004; Jens Kober; Cosimo Della Santina; Jiatao Ding (CoRR, 2025)

Robust Humanoid Locomotion via Sequential Stepping and Angular Momentum Optimization. - Jiatao Ding; Cosimo Della Santina; Tin Lun Lam; Jianxin Pang; Xiaohui Xiao; Nikos G. Tsagarakis; Yanlong Huang (IEEE Trans. Ind. Electron., 2025)

Versatile, Robust, and Explosive Locomotion with Rigid and Articulated Compliant Quadrupeds. - Jiatao Ding; Peiyu Yang; Fabio Boekel; Jens Kober; Wei Pan 004; Matteo Saveriano; Cosimo Della Santina (CoRR, 2025)

Soft yet Effective Robots via Holistic Co-Design. - Maximilian Stölzle; Niccolò Pagliarani; Francesco Stella; Josie Hughes; Cecilia Laschi; Daniela Rus; Matteo Cianchetti; Cosimo Della Santina; Gioele Zardini (CoRR, 2025)

Contact-Aware Safety in Soft Robots Using High-Order Control Barrier and Lyapunov Functions. - Kiwan Wong; Maximilian Stölzle; Wei Xiao 003; Cosimo Della Santina; Daniela Rus; Gioele Zardini (CoRR, 2025)

When do Lyapunov Subcenter Manifolds become Eigenmanifolds? - Yannik P. Wotte; Arne Sachtler; Alin Albu-Schäffer; Stefano Stramigioli; Cosimo Della Santina (CoRR, 2025)

A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects. - Zixi Chen; Di Wu; Qinghua Guan; David Hardman; Federico Renda; Josie Hughes; Thomas George Thuruthel; Cosimo Della Santina; Barbara Mazzolai; Huichan Zhao; Cesare Stefanini (CoRR, 2025)

Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-Free Design. - Vassil Atanassov; Jiatao Ding; Jens Kober; Ioannis Havoutis; Cosimo Della Santina (IEEE Robotics Autom. Mag., 2025)

Robot Control [TC Spotlight]. - Cosimo Della Santina; Sylvia L. Herbert; Manuel Keppler; Kaoru Yamamoto (IEEE Robotics Autom. Mag., 2025)

Learning to Move in Rhythm: Task-Conditioned Motion Policies with Orbital Stability Guarantees. - Maximilian Stölzle; T. Konstantin Rusch; Zach J. Patterson; Rodrigo Pérez-Dattari; Francesco Stella; Josie Hughes; Cosimo Della Santina; Daniela Rus (CoRR, 2025)

Segmenting the Complex and Irregular in Two-Phase Flows: A Real-World Empirical Study with SAM2. - Semanur Küçük; Cosimo Della Santina; Angeliki Laskari (CoRR, 2025)

Symbolic Learning of Interpretable Reduced-Order Models for Jumping Quadruped Robots. - Gioele Buriani; Jingyue Liu 001; Maximilian Stölzle; Cosimo Della Santina; Jiatao Ding (CoRR, 2025)

NiSNN-A: Noniterative Spiking Neural Network With Attention With Application to Motor Imagery EEG Classification. - Chuhan Zhang; Wei Pan 004; Cosimo Della Santina (IEEE Trans. Neural Networks Learn. Syst., 2025)

Singular-Perturbation Control of a Tendon-Driven Soft Robot: Theory and Experiments. - Lucas Novaki Ribeiro; Luis Pablo Borja; Cosimo Della Santina; Bastian Deutschmann (IEEE Trans. Control. Syst. Technol., 2025)