@article{modelbasedoptimalcontrolforrigidsoftunde,
  title = {Model-based Optimal Control for Rigid-Soft Underactuated Systems},
  author = {Daniele Caradonna and Nikhil Nair and Anup Teejo Mathew and Daniel Feliu Talegón and Imran Afgan and Egidio Falotico and Cosimo Della Santina and Federico Renda},
  year = {2026},
  eprint = {2602.03435},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.03435},
}