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Journal Article
A. Palleschi, Mengacci, R., Angelini, F., Caporale, D., Pallottino, L., De Luca, A., and Garabini, M., Time-Optimal Trajectory Planning for Flexible Joint Robots, IEEE Robotics and Automation Letters, vol. 5, no. 2, 2020 [Online]. Available: icon opt_traj_fjr.pdf (1.99 MB)
F. Angelini, Mengacci, R., C. Della Santina,, Catalano, M. G., Garabini, M., Bicchi, A., and Grioli, G., Time Generalization of Trajectories Learned on Articulated Soft Robots, IEEE Robotics and Automation Letters, vol. 5, pp. 3493–3500, 2020 [Online]. Available: icon time_generalization_of_trajectories_learned_on_articulated_soft_robots.pdf (1.54 MB)
R. Mengacci, Garabini, M., Grioli, G., Catalano, M., and Bicchi, A., Overcoming the Torque/Stiffness Range Tradeoff in Antagonistic Variable Stiffness Actuators, IEEE/ASME Transactions on Mechatronics, pp. 1-1, 2021 [Online]. Available: icon tmech-final2.pdf (2.43 MB)
R. Mengacci, Angelini, F., Catalano, M. G., Grioli, G., Bicchi, A., and Garabini, M., On the motion/stiffness decoupling property of articulated soft robots with application to model-free torque iterative learning control, The International Journal of Robotics Research, 2020 [Online]. Available:
R. Mengacci, Keppler, M., Pfanne, M., Bicchi, A., and Ott, C., Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa), IEEE Robotics and Automation Letters, pp. 1-1, 2021 [Online]. Available: icon espaa-final.pdf (1.32 MB)