The Soft Inverted Pendulum with Affine Curvature

Cosimo Della Santina*

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

6 Citations (Scopus)
25 Downloads (Pure)


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.

Original languageEnglish
Title of host publicationProceedings of the 59th IEEE Conference on Decision and Control, CDC 2020
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-7281-7447-1
Publication statusPublished - 2020
Event59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of
Duration: 14 Dec 202018 Dec 2020


Conference59th IEEE Conference on Decision and Control, CDC 2020
Country/TerritoryKorea, Republic of
CityVirtual, Jeju Island

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


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