Michele Pierallini
Papers
13
Total Citations
117
H-Index
6
About
Michele Pierallini is a robotics researcher whose work spans the control of compliant, underactuated, and soft robotic systems, with a growing focus on legged locomotion and environmental monitoring. His primary contributions lie in developing iterative learning control (ILC) frameworks for challenging robotic platforms, including compliant underactuated arms and continuum soft robots. His most cited work, "Iterative Learning Control for Compliant Underactuated Arms" (2023, 39 citations), addresses safe interactions in unstructured environments, while his provably stable ILC for continuum soft robots (2023, 14 citations) tackles the fundamental challenge of controlling highly deformable systems with limited actuators. Pierallini has also made notable strides in quadrupedal robotics, co-designing Otto—an 8-DoF SEA-driven quadruped (2025, 4 citations)—and developing switched systems optimization for gait adaptation (2025). Demonstrating interdisciplinary impact, his work on robotic monitoring of European habitats (2025, 5 citations) uses quadrupedal robots like ANYmal for plant species detection in Italian Annex I habitats. With over 100 total citations and publications spanning 2020–2025, Pierallini is establishing himself as a versatile roboticist bridging control theory, soft robotics, and real-world deployment.
Research Focus
Key Achievements
Top Papers
- 1Iterative Learning Control for Compliant Underactuated Arms39 citations · 2023
- 2Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control16 citations · 2022
- 3A Provably Stable Iterative Learning Controller for Continuum Soft Robots14 citations · 2023
- 4Optimal Control for Articulated Soft Robots9 citations · 2023
- 5Model and Control of R-Soft Inverted Pendulum8 citations · 2024
- 6
- 7Towards an Autonomous Unwrapping System for Intralogistics6 citations · 2019
- 8
- 9Otto—Design and Control of an 8-DoF SEA-Driven Quadrupedal Robot4 citations · 2025
- 10