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
• Winter Semester 2024/25 - Support to the tutorials of ASIM 3, support for SSoRo

Scientific Publications

Peer-Reviewed Journal Papers

1. G. Soleti, L. Heib, V. A. Santillán Lesseur, and G. Rizzello, “Bi-Modal Self-Sensing Proprioception and Contact Detection in Dielectric Elastomer Soft Robots,” IEEE Robotics and Automation Letters, vol. 10, no. 11, pp. 12141-12148, Nov. 2025 (DOI: 10.1109/LRA.2025.3619708).
2. 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).
3. 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.  G. Soleti and G. Rizzello, “Robust Shape Control of Underactuated Dielectric Elastomer Soft Robots via Disturbance Observer," in IEEE 19th International Conference on Advanced Motion Control, 2026, pp. 1-6.
2. P. R. Massenio, G. Soleti, M. Ruderman, D. Naso, and G. Rizzello, “Closed-Loop Energy Optimized Control of a Dielectric Elastomer Soft Robot via Policy Iteration," in 64th IEEE Conference on Decision and Control, 2025, pp. 1-7.
3. 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. 1-6 (DOI: 10.1109/RoboSoft63089.2025.11020932).
4. 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 (DOI: 10.1109/RoboSoft63089.2025.11020973).
5. 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, p. V001T06A002 (DOI: 10.1115/SMASIS2024-139481).
6. 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.
7. 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 (DOI: 10.1109/MESA61532.2024.10704823).
8. 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).
9. 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).
10. 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).
11. 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.