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    I am Pietro Pustina, a Ph.D. student in Automatic Control, Bioengineering, and Operations Research at DIAG, Sapienza, University of Rome.
    I am also a researcher at CoR, Tu Delft.

    I am interested in robotics and control. My current research focuses on model-based control of continuum soft robots.
    Contacts
    Email: pietro.pustina@gmail.com

    Bio

    Download my CV.

    I was born in Rome, Italy, on the 25th of July 1997.

    I received a B.Sc. in Computer Engineering from Roma Tre University in 2019 and a M.Sc. in Control Engineering from Sapienza, University of Rome in 2021, respectively.

    Since October 2021 I am a Ph.D. student in Automatic Control, Bioengineering, and Operations Research at Sapienza, University of Rome (DIAG) . I am also a researcher at Tu Delft (CoR, 3me) .

    I am supervised by Alessandro De Luca and Cosimo Della Santina.

    Publications

    Journals

    • P. Pustina, C. Della Santina, A. De Luca, "Unified Inverse Dynamics of Modular Serial Mechanical Systems with Application to Soft Robotics", Under review, 2024
    • P. Pustina, C. Della Santina, F. Boyer, A. De Luca, F. Renda, "Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics", IEEE Transactions on Robotics, vol. 40, 2024
    • X. Shao, P. Pustina, M. Stölzle, G. Sun, A. De Luca, L. Wu, C. Della Santina, "Model-Based Control for Soft Robots with System Uncertainties and Input Saturation", IEEE Transactions on Industrial Electronics, vol. 71, 2024
    • P. Pustina, P. Borja, C. Della Santina, A. De Luca, "P-satI-D Shape Regulation of Soft Robots", IEEE Robotics and Automation Letters, vol. 8, no. 1, pp. 1-8, 2023
    • P. Pustina, C. Della Santina, A. De Luca, "Feedback Regulation of Elastically Decoupled Underactuated Soft Robots", IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 4512-4519, 2022

    Conferences

    • P. Pustina, D. Calzolari, A. Albu-Schäffler, A. De Luca, C. Della Santina "Nonlinear modes as a tool for comparing the mathematical structure of dynamic models of soft robots", 7th IEEE International Conference on Soft Robotics, San Diego, CA, April 2024
    • P. Pustina, C. Della Santina, A. De Luca, "Recursive inverse dynamics of flexible multi-body systems based on Kane's equations", 3rd International Nonlinear Dynamics Conference, Rome, ITA, p. 259, 2023
    • S. Drost. P. Pustina. F. Angelini, A. De Luca, G. Smit, C. Della Santina, "Experimental validation of functional iterative learning control on a one-link flexible arm", 61st IEEE International Conference on Robotics and Automation, London, GBR, pp. 5291-5297, 2023
    • M. Montagna, P. Pustina, A. De Luca, "Regulation by Iterative Learning in Continuum Soft Robots", 4th Italian Conference on Robotics and Intelligent Machines, Rome, ITA, pp. 151-152, 2022