Giovanni Soleti

Ph.D. Student

Ph.D. Advisor: Jun.-Prof. Gianluca Rizzello

c/o ZeMA - Zentrum für Mechatronik und Automatisierungstechnik gGmbH
Eschberger Weg 46, Gewerbepark Gebäude 9
66121 Saarbrücken

Mail: giovanni.soleti(at) 

Telephone: -



  • 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 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 Methods for Soft Robots
  • Dielectric Elastomers
  • Soft Robotics


Teaching Assistant

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

Scientific Publications

Peer-Reviewed Journal Papers

  1. 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, 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 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 2024, pp. 1-6.
  2. 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, pp. 1-9.
  3. 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. 1-7.
  4. 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. 1-6.
  5. 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.