Publications

  • Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation.
    T. Bi, C. Sferrazza and R. D'Andrea.
    Preprint, 2020.

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  • Sim-to-real for high-resolution optical tactile sensing: From images to 3D contact force distributions.
    C. Sferrazza and R. D'Andrea.
    Preprint, 2020.

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  • A Vision-based Sensing Approach for a Spherical Soft Robotic Arm.
    M. Hofer, C. Sferrazza and R. D'Andrea.
    Frontiers in Robotics and AI (to appear), 2021.

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  • Learning-based parametrized model predictive control for trajectory tracking.
    C. Sferrazza, M. Muehlebach and R. D'Andrea.
    Optimal Control Applications and Methods, 2020.

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  • Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing.
    C. Sferrazza, T. Bi and R. D'Andrea.
    Proceedings of the International Conference on Intelligent Robots and Systems (IROS, to appear), 2020.

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  • Vision-Based Proprioceptive Sensing for Soft Inflatable Actuators.
    P. Werner, M. Hofer, C. Sferrazza and R. D'Andrea.
    Proceedings of the International Conference on Intelligent Robots and Systems (IROS, to appear), 2020.

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  • Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor.
    C. Trueeb, C. Sferrazza and R. D'Andrea.
    Proceedings of the International Conference on Soft Robotics (RoboSoft), 2020.
    ● Winner of the best paper award ●

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  • Ground Truth Force Distribution for Learning-Based Tactile Sensing: A Finite Element Approach.
    C. Sferrazza, A. Wahlsten, C. Trueeb and R. D'Andrea.
    IEEE Access, vol. 7, pp. 173438-173449, 2019.

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  • Transfer learning for vision-based tactile sensing.
    C. Sferrazza and R. D'Andrea.
    Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2019.

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  • Design, Motivation and Evaluation of a Full-Resolution Optical Tactile Sensor.
    C. Sferrazza and R. D'Andrea.
    Sensors, 19(4):928, 2019.

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  • Trajectory Tracking and Iterative Learning on an Unmanned Aerial Vehicle using Parametrized Model Predictive Control.
    C. Sferrazza, M. Muehlebach and R. D'Andrea.
    Proceedings of the Conference on Decision and Control (CDC), 2017.

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  • Implementation of a Parametrized Infinite-Horizon Model Predictive Control Scheme with Stability Guarantees.
    M. Muehlebach, C. Sferrazza and R. D'Andrea.
    Proceedings of the International Conference on Robotics and Automation (ICRA), 2017.

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  • Numerical Search for Local (Partial) Differential Flatness.
    C. Sferrazza, D. Pardo and J. Buchli.
    Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2016.

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