Riccardo Incaini

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A properly designed elastic actuation can increase the jumping height that a legged robot can reach. In this paper we compare the two most popular conceptual soft actuator designs, parallel elastic (PEA) and series elastic (SEA), in the task of maximizing the jumping height. Such task is translated into an optimal control problem. For a simplified version(More)
Car sharing is expected to reduce traffic congestion and pollution in cities while at the same time improving accessibility to public transport. However, the most popular form of car sharing, one-way car sharing, still suffers from the vehicle unbalance problem. Innovative solutions to this issue rely on custom vehicles with stackable capabilities:(More)
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