Soft Robots Course Outline
| Day 1 - Thursday, July 15, 2021 | ||
| 9:00 – 9:45 | Round of presentations and information about the course | SG&CDS |
| 9:45 – 10:30 | Modelling Soft Robots, part A: Continuum formulation of the dynamics. | Stanislao Grazioso |
| Coffee break | ||
| 11:00 – 12:30 | Modelling Soft Robots, part B: Discrete formulation with piecewise constant deformation. | Stanislao Grazioso |
| Lunch | ||
| 14:30 – 16:00 | Modelling Soft Robots, part C: Piecewise constant curvature as special case of the deformation space formulation | Stanislao Grazioso |
| Coffee break | ||
| 16:30 – 18:00 | Controlling Soft Robots, part A: Soft robot’s dynamics from the control point of view | Cosimo Della Santina |
| Day 2 – Friday, July 16, 2021 | ||
| 9:00 – 10:30 | Controlling Soft Robots, part B: Shape regulation and tracking | Cosimo Della Santina |
| Coffee break | ||
| 11:00 – 11:30 | Controlling Soft Robots, part C: First steps in stabilization of unstable equilibria | Cosimo Della Santina |
| 11:30 – 12:30 | Optimal Control of Articulated Soft Robots | Manolo Garabini |
| Lunch | ||
| 14:30 – 15:30 | Regulation, Inversion Control, and Feedback Equivalence for Flexible Robots | Alessandro De Luca |
| Mini break | ||
| 15:45 – 16:45 | Force and position control of flexible-link robots | Bruno Siciliano |
| Mini break | ||
| 17:00 – 18:00 | Planning and Learning Interaction with Variable Impedance | Antonio Bicchi |
| Day 3 – Saturday, July 17, 2021 | ||
| 9:00 – 10:00 | Controlling Soft Robots, part D: Control in task space | Cosimo Della Santina |
| Mini break | ||
| 10:15 – 11:15 | Manipulation of flexible objects | Gianluca Palli |
| Mini break | ||
| 11:30 – 12:30 | Estimation of the Robot’s stiffnes | Giorgio Grioli |
Here it is possible to download the program (pdf version).