Pietro Pustina
Papers
6
Total Citations
105
H-Index
4
About
Pietro Pustina is a rising leader in the control and modeling of continuum soft robots, a field where he tackles the fundamental challenges of underactuation, nonlinearity, and system uncertainty. His research centers on developing provably stable, model-based feedback laws that endow these flexible systems with motor intelligence. Pustina’s major contributions include pioneering PID-like shape regulation laws with saturated integral action, which guarantee robust performance even under disturbances and model inaccuracies. His work on input decoupling via coordinate transformations provides a powerful framework for simplifying the control of complex Lagrangian systems, directly enabling more tractable controller design for soft robots. With over 100 citations to his most-cited papers—including the highly influential “Model-Based Control for Soft Robots With System Uncertainties and Input Saturation” (47 citations) and “Feedback Regulation of Elastically Decoupled Underactuated Soft Robots” (20 citations)—Pustina’s impact is already evident. He has also advanced the comparative analysis of dynamic models using nonlinear modes, offering new tools for developing control-oriented reduced-order models. His achievements mark him as a key figure bridging theory and practice in soft robotics control.
Research Focus
Key Achievements
Top Papers
- 1
- 2Feedback Regulation of Elastically Decoupled Underactuated Soft Robots20 citations · 2022
- 3P-satI-D Shape Regulation of Soft Robots19 citations · 2022
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