Publications | SoftFoot Pro

2024. Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains. Authors: Piazza, C., Della Santina, C., Grioli, G., Bicchi, A., & Catalano, M. G., EEE Transactions on Robotics, 40, 3290-3305, doi:10.1109/TRO.2024.3415237.
2024. Investigating the Performance of Soft Robotic Adaptive Feet with Longitudinal and Transverse Arches. Authors: Pace, A., Grioli, G., Ghezzi, A., Bicchi, A., & Catalano, M. G. Frontiers in Robotics and AI, Robot Design Section, Volume 11, doi: 10.3389/frobt.2024.1375515.401.13568)
2021. HRP-4 Walks on Soft Feet. Authors: Catalano, M. G., Frizza, I., Morandi, C., Grioli, G., Ayusawa, K., Ito, T., & Venture, G. IEEE Robotics and Automation Letters, 6(2), 470-477. DOI:10.1109/lra.2020.2979630.
2020. Exploiting Adaptability in Soft Feet for Sensing Contact Forces. Authors: Mura, D., Della Santina, C., Piazza, C., Frizza, I., Morandi, C., Garabini, M., & Catalano, M. G. IEEE Robotics and Automation Letters, 5(2), 391-398. DOI:10.1109/lra.2019.2952292.
2017. The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots. Authors: Della Santina, C., Piazza, C., Gasparri, G. M., Bonilla, M., Catalano, M. G., Grioli, G., & Bicchi, A. IEEE Robotics & Automation Magazine, 24(1), 48-56. DOI:10.1109/mra.2016.2636366.

2023. A Model for Contact Forces Distribution Estimation in Adaptive Feet. Authors: Crotti M., Catalano M, G., Grioli G., Bicchi A., I-RIM Conference, pp. 75-77, doi=10.5281/zenodo.10722474.
2023: An Experimental Setup to Test Obstacle-Dealing Capabilities of Prosthetic Feet. Authors: Pace, A., Proksch, L., Grioli, G., Aszmann, O. C., Bicchi, A., & Catalano, M. G. 2023 International Conference on Rehabilitation Robotics (ICORR), Singapore. DOI:10.1109/ICORR58425.2023.10304763.
2016. Toward an Adaptive Foot for Natural Walking. Authors: Piazza, C., Della Santina, C., Gasparri, G. M., Catalano, M. G., Grioli, G., Garabini, M., Bicchi, A. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, Mexico. DOI:10.1109/HUMANOIDS.2016.7803423

L. Ottusi, 2019, Design, characterization and testing of a novel adaptive artificial foot, MSc Thesis, Politecnico di Milano
L. Bottone, 2024, Physical simulations and comparative analysis of soft anthropomorphic artificial feet MSc Thesis, Sapienza University of Rome.

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