Recursive model-agnostic inverse dynamics of serial soft-rigid robots

Pietro Pustina, Cosimo Della Santina, Alessandro De Luca, Department of Computer, Control and Management Engineering , Sapienza University of Rome, Department of Cognitive Robotics, Delft University of Technology, The Netherlands, Institute of Robotics and Mechatronics, German Aerospace Center

The International Journal of Robotics Research

Published online on August 12, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 5, Page 746-774, April 2026.
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control techniques ...