Model and Control of R-Soft Inverted Pendulum

Daniele Caradonna, Michele Pierallini, Cosimo Della Santina, Franco Angelini, Antonio Bicchi

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


Soft robots enable safe and robust operations in unstructured environments. However, the nonlinearities of their continuum structure complicate the accomplishment of classic robotic tasks, such as pick and place. In this letter, we propose the R-Soft Inverted Pendulum, a Soft Inverted Pendulum (SIP) actuated only by a revolute joint at the base. The objective is to exploit the snap effect to execute pick and place task. We model the proposed system with two approaches: Curvature Parametrization and Strain Parametrization. The former is particularly simple and easy to implement in the classic dynamics of a rigid manipulator, although it suffers from numerical issues. The latter is more complex but guarantees numerical robustness. Additionally, we analyze the equilibria of the system and its structural properties. Furthermore, we propose a control law based on feedback linearization. Finally, we validate the proposed system through simulations.

Original languageEnglish
Pages (from-to)5102-5109
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number6
StatePublished - 1 Jun 2024
Externally publishedYes


  • Modeling
  • and learning for soft robots
  • control
  • underactuated robots


Dive into the research topics of 'Model and Control of R-Soft Inverted Pendulum'. Together they form a unique fingerprint.

Cite this