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The Soft Inverted Pendulum with Affine Curvature

Della Santina, Cosimo (2021) The Soft Inverted Pendulum with Affine Curvature. In: 59th IEEE Conference on Decision and Control, CDC 2020. IEEE. 2020 59th IEEE Conference on Decision and Control (CDC), 2020-12-14 - 2020-12-18, Jeju, Korea (South). doi: 10.1109/CDC42340.2020.9303976. ISBN 978-172817447-1. ISSN 0743-1546.

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Official URL: https://ieeexplore.ieee.org/document/9303976


We introduce here a novel under-actuated mechanical system motivated by recent advances in soft robotics. We derive its governing equations, discuss its properties, and consider a solution for the stabilization of its unstable equilibrium. The results we propose here are intended as a first step towards dealing with the much more challenging general problem of controlling full fledged soft robots subject to non negligible external forces and operating at high accelerations.

Item URL in elib:https://elib.dlr.de/192903/
Document Type:Conference or Workshop Item (Speech)
Title:The Soft Inverted Pendulum with Affine Curvature
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Date:11 January 2021
Journal or Publication Title:59th IEEE Conference on Decision and Control, CDC 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:soft robotics
Event Title:2020 59th IEEE Conference on Decision and Control (CDC)
Event Location:Jeju, Korea (South)
Event Type:international Conference
Event Start Date:14 December 2020
Event End Date:18 December 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Dec 2022 11:25
Last Modified:24 Apr 2024 20:54

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