IIT Publications Search

Publications
2027
De Mari Casareto Dal Verme L., Ludovico D., Pistone A., Canali C., Caldwell D.G.
Non-linear controllers for cable-driven manipulators with synthetic fibre cables: Design, implementation, and experimental comparison
Control Engineering Practice, vol. 178
DOI 10.1016/j.conengprac.2026.107300 Article Journal
2026
Manara F., Poka A., Ludovico D., De Mari Casareto Dal Verme L., Canali C., Berselli G., Caldwell D.G.
A Novel Active Tensioning System for a Tendon-Driven Hyper-Redundant Manipulator
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOI 10.1109/AIM65483.2026.11658061 Conference Paper Conference
2026
Poka A., Ludovico D., Manara F., De Mari Casareto Dal Verme L., Canali C., Berselli G., Caldwell D.G.
Automation of the Structural Analysis on a Robot Link via Scripting in Ansys Workbench: A Tutorial
Lecture Notes in Mechanical Engineering, pp. 269-280
DOI 10.1007/978-3-032-14953-4_23 Conference Paper Book Series
2026
Poka A., Manara F., Ludovico D., Dal Verme L.D.M.C., Canali C., Berselli G., Caldwell D.G.
A Variable-Stiffness Tendon-Driven Manipulator with an Active Tensioning System
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOI 10.1109/AIM65483.2026.11658027 Conference Paper Conference
2026
Poka A., Ludovico D., Verme L.D.M.C.D., Manara F., Canali C., Berselli G., Caldwell D.G.
Configuration-space Bayesian optimisation for stress-critical pose identification on a hyper-redundant robot
International Journal of Intelligent Robotics and Applications
DOI 10.1007/s41315-026-00586-z Article Journal
2025
Poka A., Manara F., Ludovico D., Pistone A., De Mari Casareto Dal Verme L., Canali C., Berselli G., Caldwell D.G.
Alternative Solutions to Tendon-Driven Hyper-Redundant Manipulators: A Review on Design and Actuation Strategies
IEEE/ASME Transactions on Mechatronics
DOI 10.1109/TMECH.2025.3553289 Article Journal
2025
Poka A., Ludovico D., Manara F., De Mari Casareto Dal Verme L., Canali C., Berselli G., Caldwell D.G., Jovanova J.
Design of a lightweight and slender hyper-redundant manipulator for underwater applications
Ocean Engineering, vol. 342
DOI 10.1016/j.oceaneng.2025.122800 Article Journal
2025
Poka A., Manara F., Ludovico D., Pistone A., Dal Verme L.D.M.C., Berselli G., Caldwell D., Canali C.
Design of a torsional stiffener for a cable-driven hyper-redundant robot composed of gear transmission joints
International Journal of Advanced Manufacturing Technology, vol. 136, (no. 9), pp. 3945-3956
DOI 10.1007/s00170-024-13179-6 Article Journal
2025
Poka A., Ludovico D., Manara F., De Mari Casareto Dal Verme L., Canali C., Berselli G., Caldwell D.G.
Structural Optimisation of a Cable-Driven Hyper-Redundant Manipulator
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
DOI 10.1109/AIM64088.2025.11175840 Conference Paper Conference
2025
Manara F., Poka A., Ludovico D., Pistone A., Verme L.D.M.C.D., Canali C., Berselli G., Caldwell D.G.
Tendon-Driven Hyper-Redundant Manipulators: A Review on Design Solutions
IEEE/ASME Transactions on Mechatronics
DOI 10.1109/TMECH.2025.3561597 Review Journal
2025
Poka A., Ludovico D., Manara F., De Mari Casareto Dal Verme L., Canali C., Berselli G., Caldwell D.G., Jovanova J.
Underwater Snake-Like Robots: A Review on Design, Actuation, and Modelling Methods
International Journal of Advanced Manufacturing Technology, vol. 139, (no. 11-12), pp. 5445-5460
DOI 10.1007/s00170-025-16231-1 Review Journal
2024
Canali C., Ludovico D., De Mari Casareto Dal Verme L., Wang H., Proietti Zaccaria R., Caldwell D.G.
Cable driven robot for space applications
Proceedings of the International Astronautical Congress, IAC, pp. 662-663
DOI 10.52202/078367-0072 Conference Paper Conference
2024
Canali C., Ludovico D., De Mari Casareto Dal Verme L., Wang H., Proietti Zaccaria R., Caldwell D. G.
Cable driven robot for space operation
International Astronautical Congress
Conference Paper Conference
2024
Pistone A., Ludovico D., De Mari Casareto Dal Verme L., Leggieri S., Canali C., Caldwell D.G.
Modelling and control of manipulators for inspection and maintenance in challenging environments: A literature review
Annual Reviews in Control, vol. 57
DOI 10.1016/j.arcontrol.2024.100949 Article Journal
2024
Ludovico D., Pistone A., De Mari Casareto Dal Verme L., Poka A., Manara F., Berselli G., Caldwell D.G., Canali C.
Reconfiguration of Modular Hyper-Redundant Manipulators via Normalised Manipulability, Workspace Density, and Workspace Volume Percentage Indices
Proceedings - 6th International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2024, pp. 385-392
DOI 10.1109/ReMAR61031.2024.10618237 Conference Paper Conference
2023
Ludovico D., Guardiani P., Pistone A., De Mari Casareto Dal Verme L., Caldwell D.G., Canali C.
A Dual Forward–Backward Algorithm to Solve Convex Model Predictive Control for Obstacle Avoidance in a Logistics Scenario
Electronics (Switzerland), vol. 12, (no. 3)
DOI 10.3390/electronics12030622 Article Journal
2023
De Mari Casareto Dal Verme L., Ludovico D., Pistone A., Canali C., Caldwell D.G.
Lyapunov stability of cable-driven manipulators with synthetic fibre cables regulated by non-linear full-state feedback controller
ISA Transactions, vol. 142, pp. 360-371
DOI 10.1016/j.isatra.2023.08.019 Article Journal
2022
Canali C., Pistone A., Ludovico D., Guardiani P., Gagliardi R., Dal Verme L.D.M.C., Sofia G., Caldwell D.G.
Design of a Novel Long-Reach Cable-Driven Hyper-Redundant Snake-Like Manipulator for Inspection and Maintenance
Applied Sciences (Switzerland), vol. 12, (no. 7)
DOI 10.3390/app12073348 Article Journal