Franco Cardin

Papers

Total Citations

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About

Franco Cardin’s research lies at the intersection of robotics, mechanics, and control theory, with a primary focus on **quasi-static mechanical manipulation** and **underactuated systems**. His work addresses fundamental challenges in robotic assembly and part manipulation, where elastically-connected rigid bodies must be precisely controlled through limited, direct actuation—such as a robot’s end-effector. Cardin’s major contributions include developing a **geometric framework** that models these systems as optimal control problems, and an **energy-based numerical continuation approach** that enables robust planning for contact-rich tasks. His papers, including “A geometric framework for quasi-static manipulation of a network of elastically connected rigid bodies” (7 citations) and “Quasi-Static Mechanical Manipulation as an Optimal Process” (6 citations), have laid foundational theory for treating manipulation as a controlled, energy-driven process. Notably, his work challenges traditional motion planning by embracing—rather than avoiding—contact, opening new pathways for dexterous assembly and compliant manipulation. With a growing citation footprint and a focus on real-world robotic applications, Cardin is shaping how engineers think about mechanical interaction in constrained environments.