F
Federico Renda
Researcher at Khalifa University
Publications - 69
Citations - 2398
Federico Renda is an academic researcher from Khalifa University. The author has contributed to research in topics: Soft robotics & Computer science. The author has an hindex of 19, co-authored 56 publications receiving 1358 citations. Previous affiliations of Federico Renda include Sant'Anna School of Advanced Studies & Carnegie Mellon University.
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Dynamic Model of a Multibending Soft Robot Arm Driven by Cables
TL;DR: A dynamic model of a continuum soft robot arm driven by cables and based upon a rigorous geometrically exact approach is developed, which fully investigates both dynamic interaction with a dense medium and the coupled tendon condition.
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Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators
TL;DR: This paper presents a model-based policy learning algorithm for closed-loop predictive control of a soft robotic manipulator that can accommodate variable frequency control and unmodeled external loads.
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A 3D steady-state model of a tendon-driven continuum soft manipulator inspired by the octopus arm
TL;DR: This work presents a geometrically exact steady-state model of a tendon-driven manipulator inspired by the octopus arm that takes a continuum approach, fast enough to be implemented in the control law, and includes a model of the actuation system.
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Discrete Cosserat Approach for Multisection Soft Manipulator Dynamics
TL;DR: This work presents an alternative model for multisection soft manipulator dynamics is presented based on a discrete Cosserat approach, in which the continuous COSSerat model is discretized by assuming a piecewise constant strain along the soft arm.
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Neural Network and Jacobian Method for Solving the Inverse Statics of a Cable-Driven Soft Arm With Nonconstant Curvature
Michele Giorelli,Federico Renda,Marcello Calisti,Andrea Arienti,Gabriele Ferri,Cecilia Laschi +5 more
TL;DR: This study presents both a model-based method and a supervised learning method to solve the inverse statics of nonconstant curvature soft manipulators and chooses a Jacobian-based and a feedforward neural network to solve this problem.