Author

E. Shahabi

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Preprint Sep 2026

Collocated Shape Regulation for Soft Robots

Controlling the shape of a continuum soft robot typically requires an accurate dynamic model and actuation of all degrees of freedom. We show that regulating only the actuated coordinates, through collocated shape control, achieves provably stable convergence of those coordinates and, under an explicit compatibility co...

Pietro Pustina, E. Shahabi, D. Feliú-Talegon et al. · 0 citations

Preprint Aug 2026

Learning to infer and manipulate through distributed whole-arm interaction in a soft robot

This work introduces a physical intelligence framework in which distributed compliant interactions jointly reveal task-relevant information and organize manipulation behavior and demonstrates this principle through blind whole-arm grasping with a hybrid rigid-soft robotic arm that is equip with IMUs embedded directly w...

Chu-Han Zhang, E. Shahabi, K. Khomenko et al. · 0 citations