Alessandro De Luca


Titolo Pubblicato in Anno
Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics IEEE TRANSACTIONS ON ROBOTICS 2024
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots Proc. 2024 IEEE 7th International Conference on Soft Robotics 2024
Collision Detection and Contact Point Estimation Using Virtual Joint Torque Sensing Applied to a Cobot 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) 2023
Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm Proc. 2023 IEEE International Conference on Robotics and Automation 2023
Model-Based Control for Soft Robots With System Uncertainties and Input Saturation IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023
Time-optimal control of a visco-elastic joint 2023 I-RIM Conference 2023
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics IEEE ROBOTICS AND AUTOMATION LETTERS 2022
Feedback Regulation of Elastically Decoupled Underactuated Soft Robots IEEE ROBOTICS AND AUTOMATION LETTERS 2022
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints IEEE ROBOTICS AND AUTOMATION LETTERS 2022
Reduced-Order Observer Design for Robot Manipulators IEEE CONTROL SYSTEMS LETTERS 2022
P-satI-D Shape Regulation of Soft Robots IEEE ROBOTICS AND AUTOMATION LETTERS 2022
A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection 2022 IEEE 61st Conference on Decision and Control (CDC) 2022
Exploiting Robot Redundancy for Online Learning and Control 2022 I-RIM Conference 2022
Regulation by Iterative Learning in Continuum Soft Robots 2022 I-RIM Conferen 2022
Making an Opportunity Out of a Crisis: The Inclusive Approach of the Italian Robotics Community IEEE ROBOTICS AND AUTOMATION MAGAZINE 2021
Collision Detection, Identification, and Localization on the DLR SARA Robot with Sensing Redundancy 2021 IEEE International Conference on Robotics and Automation (ICRA) 2021
Identification of Robot Dynamics from Motor Currents/Torques with Unknown Signs I-RIM 2021 Conference 2021
Motion Control of Redundant Robots with Generalised Inequality Constraints 2021 I-RIM Conference 2021
Human-robot coexistence and interaction in open industrial cells ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2020
Time-Optimal Trajectory Planning for Flexible Joint Robots IEEE ROBOTICS AND AUTOMATION LETTERS 2020


  • PE7_1
  • PE7_10


  • Advanced manufacturing & processing

Interessi di ricerca

Robotics, Robot control, Physical human-robot interaction, Redundant manipulators, Robots with flexible elements, Motion and trajectory planning, Robot dynamic modeling and Identification, Sensor-based reaction and planning, Haptic and locomotion interfaces, Soft robotics, Vision-based control


Robot control
Human-robot interaction
Human-Robot collaboration
motion control
Robot dynamic modeling
image based visual servoing
Redundant manipulators
flexible joint robots
trajectory planning

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