Pietro Pustina — accepted AI-conference papers

2023

Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm

Sjoerd Drost, Pietro Pustina, Franco Angelini, Alessandro De Luca, Gerwin Smit, Cosimo Della Santina

ICRA 2023poster

Performing precise, repetitive motions is essential in many robotic and automation systems. Iterative learning control (ILC) allows determining the necessary control command by using a very rough system model to speed up the process. Functional iterative learning control is a novel technique that pr…

Cited by 1 Source ↗Scholar ↗

2023

P-satI-D Shape Regulation of Soft Robots

Pietro Pustina, Pablo Borja, Cosimo Della Santina, Alessandro De Luca

RA-L 2023

Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop s

Cited by 18 Source ↗Scholar ↗

2022

Feedback Regulation of Elastically Decoupled Underactuated Soft Robots

Pietro Pustina, Cosimo Della Santina, Alessandro De Luca

RA-L 2022

The intrinsically underactuated and nonlinear nature of continuum soft robots makes the derivation of provably stable feedback control laws a challenging task. Most of the works so far circumvented the issue either by looking at coarse fully-actuated approximations of the dynamics or by imposing qua

Cited by 19 Source ↗Scholar ↗