Papers
10
Total Citations
140
H-Index
5
About
Pablo Borja is a leading researcher in the control and modeling of complex robotic systems, with a particular focus on soft robotics, nonholonomic wheeled robots, and robotic arms. His major contributions lie in the development of advanced control strategies that leverage energy-based and passivity-based methods, often addressing challenges such as underactuation, input saturation, and the absence of velocity measurements. Borja's work on physics-informed neural networks for robot modeling and control, as detailed in his most-cited paper (59 citations), extends these networks to handle nonconservative effects, offering a novel approach to model-based control. He has also made significant strides in shape regulation for soft robots, proposing PID-like control laws with saturated integral actions to handle uncertainties and disturbances (19 citations). His passivity-based trajectory tracking and formation control for nonholonomic wheeled robots (22 citations) eliminates the need for velocity measurements, a practical advancement. With over 140 citations across his top works, Borja's research is highly influential, and his recent work on singular-perturbation control for tendon-driven soft robots (2025) demonstrates ongoing innovation in addressing actuation dynamics. His achievements include developing controllers that ensure exponential stability and tuning for mechanical systems, solidifying his reputation as a key figure in modern robotics control.
Research Focus
Key Achievements
Top Papers
- 1
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- 4P-satI-D Shape Regulation of Soft Robots19 citations · 2022
- 5
- 6Exponential Stability and Tuning for a Class of Mechanical Systems3 citations · 2021
- 7Damping Design for Robot Manipulators3 citations · 2023
- 8
- 9Energy shaping control of an inverted flexible pendulum fixed to a cart2 citations · 2016
- 10A Hybrid Control Approach for a Pneumatic-Actuated Soft Robot2 citations · 2024