Author

C. della Santina

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Preprint Sep 2026

Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location

Most research on the manipulation of deformable objects focuses on lightweight systems with negligible mechanical response, effectively restricting attention to quasi-static regimes. This assumption excludes a broad class of practically relevant objects, such as hoses, pipes, and wiring harnesses, whose dynamics cannot...

D. Feliú-Talegon, C. della Santina · 0 citations

Preprint Aug 2026

Learning to infer and manipulate through distributed whole-arm interaction in a soft robot

This work introduces a physical intelligence framework in which distributed compliant interactions jointly reveal task-relevant information and organize manipulation behavior and demonstrates this principle through blind whole-arm grasping with a hybrid rigid-soft robotic arm that is equip with IMUs embedded directly w...

Chu-Han Zhang, E. Shahabi, K. Khomenko et al. · 0 citations