Time delay controller for the position control of a MRI-compatible pneumatic actuation with long supply lines. - Enrico Franco; Mihailo Ristic (AIM, 2014)

Design and control of needle positioner for MRI-guided laser ablation of the liver. - Enrico Franco; Mihailo Ristic (MESA, 2014)

Adaptive control of a master-slave system for teleoperated needle insertion under MRI-guidance. - Enrico Franco; Mihailo Ristic (MED, 2015)

Multi agent path planning strategies based on Kalman Filter for surveillance missions. - Desiree Gentilini; Nicola Farina; Enrico Franco; Anna Elena Tirri; Domenico Accardo; Rosario Schiano Lo Moriello; Leopoldo Angrisani (RTSI, 2016)

Combined Adaptive and Predictive Control for a Teleoperation System with Force Disturbance and Input Delay. - Enrico Franco (Frontiers Robotics AI, 2016)

Discrete-Time IDA-PBC for Underactuated Mechanical Systems with Input-Delay and Matched Disturbances. - Enrico Franco (MED, 2018)

Model based adaptive control for a soft robotic manipulator. - Enrico Franco; Arnau Garriga-Casanovas; Ferdinando Rodriguez y Baena; Alessandro Astolfi (CDC, 2019)

Energy Shaping Control for Robotic Needle Insertion. - Enrico Franco; Timothy Brown (ICSTCC, 2019)

Energy-based design of elastic joints for inverted pendulum systems with input saturation. - Enrico Franco (MED, 2019)

Model Predictive Control for Human-Centred Lower Limb Robotic Assistance. - Christopher Caulcrick; Weiguang Huo; Enrico Franco; Samer Mohammed; Will Hoult; Ravi Vaidyanathan (CoRR, 2020)

IDA-PBC with adaptive friction compensation for underactuated mechanical systems. - Enrico Franco (Int. J. Control, 2021)

Energy-shaping control of soft continuum manipulators with in-plane disturbances. - Enrico Franco; Arnau Garriga-Casanovas (Int. J. Robotics Res., 2021)

Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin. - Shen Treratanakulchai; Enrico Franco; Arnau Garriga-Casanovas; Minghao Hu; Panagiotis Kassanos; Ferdinando Rodriguez y Baena (IROS, 2022)

Optimised Design and Performance Comparison of Soft Robotic Manipulators. - Arnau Garriga-Casanovas; Shen Treratanakulchai; Enrico Franco; Emilia Zari; Varell Ferrandy; Vani Virdyawan; Ferdinando Rodriguez y Baena (CoRR, 2022)

Energy Shaping Control of Hydraulic Soft Continuum Planar Manipulators. - Enrico Franco (IEEE Control. Syst. Lett., 2022)

Model-Based Eversion Control of Soft Growing Robots With Pneumatic Actuation. - Enrico Franco (IEEE Control. Syst. Lett., 2022)

Model-free Position Control of a Soft Continuum Manipulator in Cartesian Space. - Shen Treratanakulchai; Enrico Franco; Ferdinando Rodriguez y Baena (ICCAD, 2023)

Discrete-time model based control of soft manipulator with FBG sensing. - Enrico Franco; Ayhan Aktas; Shen Treratanakulchai; Arnau Garriga-Casanovas; Abdulhamit Donder; Ferdinando Rodriguez y Baena (ICRA, 2023)

Model Based Position Control of Soft Hydraulic Actuators. - Mark Runciman; Enrico Franco; James Avery; Ferdinando Rodriguez y Baena; George P. Mylonas (ICRA, 2023)

Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics. - Enrico Franco; Alessandro Astolfi (Eur. J. Control, 2023)

Modeling of a two-degree-of-freedom fiber-reinforced soft pneumatic actuator. - Varell Ferrandy; Indrawanto; Ferryanto; Arif Sugiharto; Enrico Franco; Arnau Garriga-Casanovas; Andi I. Mahyuddin; Ferdinando Rodriguez y Baena; Sandro Mihradi; Vani Virdyawan (Robotica, 2023)

Model based control of an affordable pressure regulator for pneumatic soft robots. - Enrico Franco; Korn Borvorntanajanya; Fung Flora Leung (CCTA, 2024)

IDA-PBC with Dynamic Extension for Momenta Observation of Underactuated Mechanical Systems. - Enrico Franco; Mutaz Ryalat (CCTA, 2024)

A Novel Soft Robotic Manipulator Design with Zig-zag Chamber Geometry. - Shen Treratanakulchai; Arnau Garriga-Casanovas; Korn Borvorntanajanya; Enrico Franco; Ferdinando Rodriguez y Baena (ICARA, 2024)

Development of a Low Pressure Pouch Sensor for Force Measurement in Colonoscopy Procedures. - Korn Borvorntanajanya; Jabed F. Ahmed; Mark Runciman; Enrico Franco; Nisha Patel; Ferdinando Rodriguez y Baena (IROS, 2024)

Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances. - Enrico Franco; Pierluigi Arpenti; Alejandro Donaire; Fabio Ruggiero (IEEE Control. Syst. Lett., 2024)

Integral Controlled Lagrangians for Underactuated Mechanical Systems Subject to Position-Dependent Matched Disturbances. - Enrico Franco; Fulvio Forni (IEEE Control. Syst. Lett., 2024)

A review of bioinspired locomotion in lower GI endoscopy. - Jabed F. Ahmed; Enrico Franco; Ferdinando Rodriguez y Baena; Ara Darzi; Nisha Patel (Robotica, 2024)

A novel morphing soft robot design to minimize deviations. - Varell Ferrandy; Arnau Garriga-Casanovas; Enrico Franco; Indrawanto; Ferdinando Rodriguez y Baena; Andi Isra Mahyuddin; Vani Virdyawan (Robotica, 2024)

Robust and Adaptive Control of a Soft Continuum Manipulator for Minimally Invasive Surgery. - Liujia Wang; Kaiwen Chen; Enrico Franco (Robotics, 2024)

Hybrid Manipulator With Force Estimation for Lower Gastrointestinal Interventions. - Fung Flora Leung; Korn Borvorntanajanya; Kaiwen Chen; Emilia Zari; Arnau Garriga-Casanovas; Enrico Franco; Ferdinando Rodriguez y Baena; Philip Wai Yan Chiu; Yeung Yam (IEEE Robotics Autom. Lett., 2024)

Dynamic Tube-MPC for Underactuated Mechanical Systems With Matched and Unmatched Disturbances. - Guaraci Bastos Jr.; Enrico Franco (IEEE Control. Syst. Lett., 2025)

Integral IDA-PBC for underactuated mechanical systems with unmeasured actuator dynamics and time-varying matched disturbances. - Enrico Franco; Kaiwen Chen (Eur. J. Control, 2025)

Design, Control, and Evaluation of a Novel Soft Everting Robot for Colonoscopy. - Jialei Shi; Korn Borvorntanajanya; Kaiwen Chen; Enrico Franco; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2025)