Cosimo Della Santina

ORCID

Publication Activity (10 Years)

Years Active: 2015-2024
Publications (10 Years): 138

Top Venues

CoRR

IEEE Robotics Autom. Lett.

RoboSoft

IEEE Control. Syst. Lett.

Publications

Tomás Coleman, Robert Babuska, Jens Kober, Cosimo Della Santina
An Empirical Investigation on Variational Autoencoder-Based Dynamic Modeling of Deformable Objects from RGB Data. MED (2024)
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, Ginevra Castellano, Dimos V. Dimarogonas, Arabinda Ghosh, Sofie Haesaert, Sadegh Soudjani, Sybert Stroeve, Paul F. M. J. Verschure, Davide Bacciu, Ophelia Deroy, Bahador Bahrami, Claudio Gallicchio, Sabine Hauert, Ricardo Sanz, Pablo Lanillos, Giovanni Iacca, Stephan Sigg, Manel Gasulla, Luc Steels, Carles Sierra
Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside". CoRR (2024)
Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots. RoboSoft (2024)
Zach J. Patterson, Cosimo Della Santina, Daniela Rus
Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots. ICRA (2024)
Pietro Pustina, Cosimo Della Santina, Alessandro De Luca
Unified Inverse Dynamics of Modular Serial Mechanical Systems with Application to Soft Robotics. CoRR (2024)
Kyle L. Walker, Cosimo Della Santina, Francesco Giorgio Serchi
Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators. RoboSoft (2024)
Sebastien Tiburzio, Tomás Coleman, Cosimo Della Santina
Model-based Manipulation of Deformable Objects with Non-negligible Dynamics as Shape Regulation. CoRR (2024)
Maximilian Stölzle, Sonal Santosh Baberwal, Daniela Rus, Shirley Coyle, Cosimo Della Santina
Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control. RoboSoft (2024)
Maximilian Stölzle, Sonal Santosh Baberwal, Daniela Rus, Shirley Coyle, Cosimo Della Santina
Guiding Soft Robots with Motor-Imagery Brain Signals and Impedance Control. CoRR (2024)
Jiatao Ding, Mees A. van Löben Sels, Franco Angelini, Jens Kober, Cosimo Della Santina
Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning. IEEE Robotics Autom. Lett. 9 (1) (2024)
Francesco Stella, Cosimo Della Santina, Josie Hughes
Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering. IEEE Robotics Autom. Lett. 9 (2) (2024)
Francesco Stella, Guanran Pei, Omar Meebed, Qinghua Guan, Zhenshan Bing, Cosimo Della Santina, Josie Hughes
Toward Long-Lasting Large-Scale Soft Robots: The Durability Challenge in Architectured Materials. RoboSoft (2024)
Xiangyu Shao, Pietro Pustina, Maximilian Stölzle, Guanghui Sun, Alessandro De Luca, Ligang Wu, Cosimo Della Santina
Model-Based Control for Soft Robots With System Uncertainties and Input Saturation. IEEE Trans. Ind. Electron. 71 (7) (2024)
Pietro Pustina, Cosimo Della Santina, Frédéric Boyer, Alessandro De Luca, Federico Renda
Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics. IEEE Trans. Robotics 40 (2024)
Daniele Caradonna, Michele Pierallini, Cosimo Della Santina, Franco Angelini, Antonio Bicchi
Model and Control of R-Soft Inverted Pendulum. IEEE Robotics Autom. Lett. 9 (6) (2024)
Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer, Alessandro De Luca, Cosimo Della Santina
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots. CoRR (2024)
Jiatao Ding, Vassil Atanassov, Edoardo Panichi, Jens Kober, Cosimo Della Santina
Robust Quadrupedal Jumping With Impact-Aware Landing: Exploiting Parallel Elasticity. IEEE Trans. Robotics 40 (2024)
Johannes F. Elfferich, Ebrahim Shahabi, Cosimo Della Santina, Dimitra Dodou
Berry Twist: a Twisting-Tube Soft Robotic Gripper for Blackberry Harvesting. CoRR (2024)
Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. CoRR (2024)
Marco Lepri, Davide Bacciu, Cosimo Della Santina
Neural Autoencoder-Based Structure-Preserving Model Order Reduction and Control Design for High-Dimensional Physical Systems. IEEE Control. Syst. Lett. 8 (2024)
Jingyue Liu, Pablo Borja, Cosimo Della Santina
Physics-Informed Neural Networks to Model and Control Robots: A Theoretical and Experimental Investigation. Adv. Intell. Syst. 6 (5) (2024)
Arne Sachtler, Davide Calzolari, Maximilian Raff, Annika Schmidt, Yannik P. Wotte, Cosimo Della Santina, C. David Remy, Alin Albu-Schäffer
Swing-Up of a Weakly Actuated Double Pendulum via Nonlinear Normal Modes. ECC (2024)
Andrea Ceni, Andrea Cossu, Maximilian W. Stölzle, Jingyue Liu, Cosimo Della Santina, Davide Bacciu, Claudio Gallicchio
Random Oscillators Network for Time Series Processing. AISTATS (2024)
Giulio Evangelisti, Cosimo Della Santina, Sandra Hirche
Exponentially Stable Projector-based Control of Lagrangian Systems with Gaussian Processes. CoRR (2024)
Cristina Piazza, Cosimo Della Santina, Manuel G. Catalano, Giorgio Grioli, Antonio Bicchi
Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains. CoRR (2024)
Francesco Vezzi, Jiatao Ding, Antonin Raffin, Jens Kober, Cosimo Della Santina
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds. ICRA (2024)
Cristina Piazza, Cosimo Della Santina, Giorgio Grioli, Antonio Bicchi, Manuel G. Catalano
Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains. IEEE Trans. Robotics 40 (2024)
Kyle L. Walker, Cosimo Della Santina, Francesco Giorgio Serchi
Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators. CoRR (2024)
Vassil Atanassov, Jiatao Ding, Jens Kober, Ioannis Havoutis, Cosimo Della Santina
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design. CoRR (2024)
Willem Heeringa, Cosimo Della Santina, Gerwin Smit
FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects. RoboSoft (2023)
Rodrigo Pérez-Dattari, Cosimo Della Santina, Jens Kober
Deep Metric Imitation Learning for Stable Motion Primitives. CoRR (2023)
Emilio Tavio y Cabrera, Cosimo Della Santina, Pablo Borja
A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot. HFR (2023)
Jingyue Liu, Pablo Borja, Cosimo Della Santina
Physics-informed Neural Networks to Model and Control Robots: a Theoretical and Experimental Investigation. CoRR (2023)
Francesco Pique, Francesco Stella, Josie Hughes, Egidio Falotico, Cosimo Della Santina
Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control. RoboSoft (2023)
Maja Trumic, Cosimo Della Santina, Kosta Jovanovic, Adriano Fagiolini
On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control. IEEE Control. Syst. Lett. 7 (2023)
Francesco Vezzi, Jiatao Ding, Antonin Raffin, Jens Kober, Cosimo Della Santina
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds. CoRR (2023)
Pietro Pustina, Pablo Borja, Cosimo Della Santina, Alessandro De Luca
P-satI-D Shape Regulation of Soft Robots. IEEE Robotics Autom. Lett. 8 (1) (2023)
Francesco Stella, Cosimo Della Santina, Josie Hughes
Can Large Language Models design a Robot? CoRR (2023)
Yulei Qiu, Jihong Zhu, Cosimo Della Santina, Michael Gienger, Jens Kober
Robotic Fabric Flattening with Wrinkle Direction Detection. CoRR (2023)
Chuhan Zhang, Wei Pan, Cosimo Della Santina
NiSNN-A: Non-iterative Spiking Neural Networks with Attention with Application to Motor Imagery EEG Classification. CoRR (2023)
Francesco Stella, Qinghua Guan, Cosimo Della Santina, Josie Hughes
Piecewise Affine Curvature model: a Reduced-Order Model for Soft Robot-Environment Interaction Beyond PCC. RoboSoft (2023)
Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano, Annika Schmidt, Alin Albu-Schäffer
Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped. IEEE Robotics Autom. Lett. 8 (4) (2023)
Franco Angelini, Pierangela Angelini, Claudia Angiolini, Simonetta Bagella, Fabio Bonomo, Marco Caccianiga, Cosimo Della Santina, Daniela Gigante, Marco Hutter, Thrishantha Nanayakkara, Paolo Remagnino, Diego Torricelli, Manolo Garabini
Robotic Monitoring of Habitats: The Natural Intelligence Approach. IEEE Access 11 (2023)
Francesco Stella, Cosimo Della Santina, Josie Hughes
How can LLMs transform the robotic design process? Nat. Mac. Intell. 5 (6) (2023)
Zach J. Patterson, Cosimo Della Santina, Daniela Rus
Modeling and Control of Intrinsically Elasticity Coupled Soft-Rigid Robots. CoRR (2023)
Michele Pierallini, Francesco Stella, Franco Angelini, Bastian Deutschmann, Josie Hughes, Antonio Bicchi, Manolo Garabini, Cosimo Della Santina
A Provably Stable Iterative Learning Controller for Continuum Soft Robots. IEEE Robotics Autom. Lett. 8 (10) (2023)
Maximilian Stölzle, Lillian Chin, Ryan L. Truby, Daniela Rus, Cosimo Della Santina
Modelling Handed Shearing Auxetics: Selective Piecewise Constant Strain Kinematics and Dynamic Simulation. RoboSoft (2023)
Andrea Vicari, Nana Obayashi, Francesco Stella, Gaetan Raynaud, Karen Mulleners, Cosimo Della Santina, Josie Hughes
Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization. RoboSoft (2023)
Pietro Pustina, Cosimo Della Santina, Frédéric Boyer, Alessandro De Luca, Federico Renda
On the Collocated Form with Input Decoupling of Lagrangian Systems. CoRR (2023)
Maximilian Stölzle, Daniela Rus, Cosimo Della Santina
An Experimental Study of Model-based Control for Planar Handed Shearing Auxetics Robots. CoRR (2023)
Marco Lepri, Davide Bacciu, Cosimo Della Santina
Neural Autoencoder-Based Structure-Preserving Model Order Reduction and Control Design for High-Dimensional Physical Systems. CoRR (2023)
Sjoerd Drost, Pietro Pustina, Franco Angelini, Alessandro De Luca, Gerwin Smit, Cosimo Della Santina
Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm. ICRA (2023)
Theophil Spiegeler Castañeda, Bart Horstman, Patricia Capsi-Morales, Cosimo Della Santina, Cristina Piazza
BICEP: A Bio-Inspired Compliant Elbow Prosthesis. HFR (2023)
Eveline Drijver, Rodrigo Pérez-Dattari, Jens Kober, Cosimo Della Santina, Zlatan Ajanovic
Robotic Packaging Optimization with Reinforcement Learning. CASE (2023)
Eveline Drijver, Rodrigo Pérez-Dattari, Jens Kober, Cosimo Della Santina, Zlatan Ajanovic
Robotic Packaging Optimization with Reinforcement Learning. CoRR (2023)
Pablo Borja, Azita Dabiri, Cosimo Della Santina
Energy-based shape regulation of soft robots with unactuated dynamics dominated by elasticity. RoboSoft (2022)
Johannes F. Elfferich, Dimitra Dodou, Cosimo Della Santina
Soft Robotic Grippers for Crop Handling or Harvesting: A Review. IEEE Access 10 (2022)
Pablo Borja, Cosimo Della Santina, Azita Dabiri
On the Role of Coupled Damping and Gyroscopic Forces in the Stability and Performance of Mechanical Systems. IEEE Control. Syst. Lett. 6 (2022)
Mathew Jose Pollayil, Cosimo Della Santina, George Mesesan, Johannes Englsberger, Daniel Seidel, Manolo Garabini, Christian Ott, Antonio Bicchi, Alin Albu-Schäffer
Planning Natural Locomotion for Articulated Soft Quadrupeds. ICRA (2022)
Andrea Vicari, Nana Obayashi, Francesco Stella, Gaetan Raynaud, Karen Mulleners, Cosimo Della Santina, Josie Hughes
Proprioceptive Sensing of Soft Tentacles with Model Based Reconstruction for Controller Optimization. CoRR (2022)
Maximilian Stölzle, Cosimo Della Santina
Piston-Driven Pneumatically-Actuated Soft Robots: Modeling and Backstepping Control. IEEE Control. Syst. Lett. 6 (2022)
Sagar Joshi, Irene Beck, Ajay Seth, Cosimo Della Santina
Minimalistic Soft Exosuit for Assisting the Shoulder via Biomechanics-Aware Optimization. Humanoids (2022)
Davide Calzolari, Cosimo Della Santina, Alessandro M. Giordano, Alin Albu-Schäffer
Single-Leg Forward Hopping via Nonlinear Modes. ACC (2022)
Emanuele Riccardo Rosi, Maximilian Stölzle, Fabio Solari, Cosimo Della Santina
Sensing soft robots' shape with cameras: an investigation on kinematics-aware SLAM. RoboSoft (2022)
Padmaja Kulkarni, Jens Kober, Robert Babuska, Cosimo Della Santina
Learning Assembly Tasks in a Few Minutes by Combining Impedance Control and Residual Recurrent Reinforcement Learning. Adv. Intell. Syst. 4 (1) (2022)
Lars Besselaar, Cosimo Della Santina
One-shot Learning Closed-loop Manipulation of Soft Slender Objects Based on a Planar Polynomial Curvature Model. RoboSoft (2022)
Pietro Pustina, Cosimo Della Santina, Alessandro De Luca
Feedback Regulation of Elastically Decoupled Underactuated Soft Robots. IEEE Robotics Autom. Lett. 7 (2) (2022)
Filip Bjelonic, Arne Sachtler, Alin Albu-Schäffer, Cosimo Della Santina
Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot. IEEE Robotics Autom. Lett. 7 (2) (2022)
Kai Junge, Nana Obayashi, Francesco Stella, Cosimo Della Santina, Josie Hughes
Controlling Maneuverability of a Bio-Inspired Swimming Robot Through Morphological Transformation: Morphology Driven Control of a Swimming Robot. IEEE Robotics Autom. Mag. 29 (4) (2022)
Francesco Stella, Nana Obayashi, Cosimo Della Santina, Josie Hughes
An Experimental Validation of the Polynomial Curvature Model: Identification and Optimal Control of a Soft Underwater Tentacle. IEEE Robotics Autom. Lett. 7 (4) (2022)
Francesco Stella, Qinghua Guan, Jinsong Leng, Cosimo Della Santina, Josie Hughes
Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC. CoRR (2022)
Visar Arapi, Cosimo Della Santina, Giuseppe Averta, Antonio Bicchi, Matteo Bianchi
Understanding Human Manipulation With the Environment: A Novel Taxonomy for Video Labelling. IEEE Robotics Autom. Lett. 6 (4) (2021)
Luigi Bono Bonacchi, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, Cosimo Della Santina
Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case. IEEE Robotics Autom. Lett. 6 (2) (2021)
Cosimo Della Santina, Davide Calzolari, Alessandro Massimo Giordano, Alin Albu-Schäffer
Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions. IEEE Robotics Autom. Lett. 6 (2) (2021)
Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer
PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case. ACC (2021)
Maja Trumic, Cosimo Della Santina, Kosta Jovanovic, Adriano Fagiolini
Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. IEEE Control. Syst. Lett. 5 (6) (2021)
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots. Int. J. Robotics Res. 40 (1) (2021)
Abhishek Tomy, Matteo Razzanelli, Francesco Di Lauro, Daniela Rus, Cosimo Della Santina
Estimating the State of Epidemics Spreading with Graph Neural Networks. CoRR (2021)
Cosimo Della Santina, Alin Albu-Schäffer
Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization. ACC (2021)
Cosimo Della Santina, Christian Duriez, Daniela Rus
Model Based Control of Soft Robots: A Survey of the State of the Art and Open Challenges. CoRR (2021)
Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer
Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia. IEEE Control. Syst. Lett. 5 (2) (2021)
Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer
Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. CDC (2021)
Francesco Di Lauro, István Zoltán Kiss, Daniela Rus, Cosimo Della Santina
Covid-19 and Flattening the Curve: a Feedback Control Perspective. ACC (2021)
Cosimo Della Santina, Franco Angelini
Iterative Learning in Functional Space for Non-Square Linear Systems. CDC (2021)
Maja Trumic, Cosimo Della Santina, Kosta Jovanovic, Adriano Fagiolini
Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching. ACC (2021)
Cosimo Della Santina, Alin Albu-Schäffer
Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization. IEEE Control. Syst. Lett. 5 (6) (2021)
Davide Calzolari, Cosimo Della Santina, Alin Albu-Schäffer
PD-Like Regulation of Mechanical Systems With Prescribed Bounds of Exponential Stability: The Point-to-Point Case. IEEE Control. Syst. Lett. 5 (6) (2021)
Anna Sesselmann, Florian Loeffl, Cosimo Della Santina, Máximo A. Roa, Alin Albu-Schäffer
Embedding a Nonlinear Strict Oscillatory Mode into a Segmented Leg. IROS (2021)
Giuseppe Averta, Cosimo Della Santina, Fanny Ficuciello, Máximo A. Roa, Matteo Bianchi
Editorial: On the Planning, Control, and Perception of Soft Robotic End-Effectors. Frontiers Robotics AI 8 (2021)
Edoardo Milana, Francesco Stella, Benjamin Gorissen, Dominiek Reynaerts, Cosimo Della Santina
Model-Based Control Can Improve the Performance of Artificial Cilia. RoboSoft (2021)
Francesco Di Lauro, István Zoltán Kiss, Daniela Rus, Cosimo Della Santina
Covid-19 and Flattening the Curve: A Feedback Control Perspective. IEEE Control. Syst. Lett. 5 (4) (2021)
Lorenzo Cenceschi, Franco Angelini, Cosimo Della Santina, Antonio Bicchi
Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree. ECC (2021)
Franco Angelini, Cosimo Della Santina, Manolo Garabini, Matteo Bianchi, Antonio Bicchi
Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots. Frontiers Robotics AI 7 (2020)
Giuseppe Averta, Danilo Caporale, Cosimo Della Santina, Antonio Bicchi, Matteo Bianchi
A technical framework for human-like motion generation with autonomous anthropomorphic redundant manipulators. ICRA (2020)
Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
Model-based dynamic feedback control of a planar soft robot: trajectory tracking and interaction with the environment. Int. J. Robotics Res. 39 (4) (2020)
Francesco Di Lauro, István Zoltán Kiss, Daniela Rus, Cosimo Della Santina
Trajectory Tracking of Optimal Social Distancing Strategies with Application to a CoVid-19 Scenario. CoRR (2020)
Cosimo Della Santina, Antonio Bicchi, Daniela Rus
On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control. IEEE Robotics Autom. Lett. 5 (2) (2020)
Josie Hughes, Francesco Stella, Cosimo Della Santina, Daniela Rus
Sensing Soft Robot Shape Using IMUs: An Experimental Investigation. ISER (2020)
Ryan L. Truby, Cosimo Della Santina, Daniela Rus
Distributed Proprioception of 3D Configuration in Soft, Sensorized Robots via Deep Learning. IEEE Robotics Autom. Lett. 5 (2) (2020)
Cosimo Della Santina, Daniela Rus
Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case. IEEE Robotics Autom. Lett. 5 (2) (2020)

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Publication Activity (10 Years)

Top Topics

Top Venues

Cosimo Della Santina