Giovanni Soleti

Education

• 2022 - Master's Degree in Automation and Control Engineering, Polytechnic University of Bari, Bari, Italy.
• 2019 - Bachelor's Degree in Computer Science and Automation Engineering, Polytechnic University of Bari, Bari, Italy

Research

Research Project

• Dielectric Elastomers Phase 2 – Soft Material Actuator/Sensor Concepts for Soft Robotic Systems (DFG SPP 2100 SMRS),
  subproject Modeling, Control, and Self-Sensing

Research Interests

• Energy-based modeling and control
• Port-Hamiltonian Systems
• Control and self-sensing of soft robots
• Dielectric elastomers
• Soft robotics

Teaching

Teaching Assistant

• Winter Semester 2023/24 - Support to the tutorials of ASIM 3, support for SSoRo

Scientific Publications

Peer-Reviewed Journal Papers

1. G. Soleti, P. R. Massenio, J. Kunze, and G. Rizzello, “Model-Based Robust Position Control of an Underactuated Dielectric Elastomer Soft Robot,” IEEE Transactions on Robotics, vol. 41, pp. 1693-1710, Feb. 2025 (DOI: 10.1109/TRO.2025.3539184).
2. D. Pisla, D. Caramia, B. Gherman, G. Soleti, I. Ulinici, and C. Vaida, “A novel control architecture for robotic-assisted single incision laparoscopic surgery,” The Romanian Journal of Technical Sciences. Applied Mechanics, vol. 66, no. 2, pp. 143-165.

International Conference Proceedings

1.  V. Naumov, G. Soleti, Y. Goergen, M. A. Mandolino, E. Wagner, G. Rizzello, P. Motzki, and M. Lehser, “Kinematic Modeling and Self-Sensing of a Shape Memory Alloy Wire-Driven Continuum Robot," in 8th IEEE-RAS International Conference on Soft Robotics, 2025, pp. 1-5.
2. G. Soleti, J. Kunze, P. R. Massenio, and G. Rizzello, “Model-based design of multi-stable 3D soft manipulators: a dielectric elastomer case study," in 8th IEEE-RAS International Conference on Soft Robotics, 2025, pp. 1-8.
3. J. Kunze, G. Soleti, D. Bruch, G. Rizzello, and P. Motzki, “Design and Demonstration of a 3D Soft-Robotics Module Based on Rolled Dielectric Elastomer Actuators (RDEAs)," in ASME 2024 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, 2024, pp. 1-4.
4. J. Kunze, G. Soleti, D. Bruch, G. Rizzello, and P. Motzki, “Development of a 3D-Bendable Soft Robotic Segment Driven by Rolled Dielectric Elastomer Actuators," in International Conference and Exhibition on New Actuator Systems and Applications ACTUATOR 24, 2024, pp. 266-268.
5. G. Soleti, L. Cicali, M. Franci, L. Pugi, and G. Rizzello, “Task Space Trajectory Planning for an  Articulated Dielectric Elastomer Soft Robot with Input Saturation and Underactuation," in The 20^th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 2024, pp. 1-6.
6. J. Kunze, G. Soleti, D. Bruch, P. Motzki, S. Nalbach, S. Seelecke, and G. Rizzello, “Development and Experimental Evaluation of a Compact 3D Bending Module actuated by Rolled Dielectric Elastomer Actuators," in Electroactive Polymer Actuators and Devices (EAPAD) XXVI, 2024, p. 129450A (DOI: 10.1117/12.3010129).
7. G. Soleti, P. R. Massenio, J. Kunze, and G. Rizzello, “Nonlinear Coordinate Transformation and Trajectory Tracking Control of an Underactuated Soft Robot Driven by Dielectric Elastomers," in 7th IEEE-RAS International Conference on Soft Robotics, 2024, pp. 228-234 (DOI: 10.1109/RoboSoft60065.2024.10521952).
8. G. Soleti, J. Prechtl, P. R. Massenio, M. Baltes, and G. Rizzello, “Energy based control of a bi-stable and underactuated soft robotic system based on dielectric elastomer actuators," in Proc. of 22th World Congress of the International Federation of Automatic Control, 2023, pp. 7796-7801 (DOI: 10.1016/j.ifacol.2023.10.1153).
9. D. Bevilacqua, G. Soleti, G. Rizzello, and P. Motzki, “Bio-Inspired Flapping Wing Antagonist Actuation with SMA Wires," in International Conference and Exhibition on New Actuator Systems and Applications ACTUATOR 22, 2022, pp. 1-4.