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Federico Renda
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Journal Articles

Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach

Amehri Walid, Gang Zheng, Alexandre Kruszewski, Federico Renda
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011012.
Paper No: JMR-20-1574
https://doi.org/10.1115/1.4051609
Published Online: August 11, 2021
View Articletitled, Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach
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Topics: Manipulators, Optimization, Tendons
Journal Articles

Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation

Federico Renda, Matteo Cianchetti, Haider Abidi, Jorge Dias, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041012.
Paper No: JMR-16-1344
https://doi.org/10.1115/1.4036579
Published Online: May 17, 2017
View Articletitled, Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation
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Topics: Kinematics, Manipulators, Screws, Stress, Tendons, Steady state
Proceedings Papers

A Feed Forward Neural Network for Solving the Inverse Kinetics of Non-Constant Curvature Soft Manipulators Driven by Cables

Michele Giorelli, Federico Renda, Gabriele Ferri, Cecilia Laschi
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T38A001, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3740
https://doi.org/10.1115/DSCC2013-3740
View Paper titled, A Feed Forward Neural Network for Solving the Inverse Kinetics of Non-Constant Curvature Soft Manipulators Driven by Cables
Open the PDF for A Feed Forward Neural Network for Solving the Inverse Kinetics of Non-Constant Curvature Soft Manipulators Driven by Cables in another window
Topics: Artificial neural networks, Cables, Feedforward control, Manipulators, Algorithms, Errors, Fuzzy neural nets, Grasping, Iterative methods, Jacobian matrices