2026
Stable Gravity Compensation and 6-DoF Manipulation of a Tethered Magnetic Endoscope with an Optimized End-Effector
ICRA 2026poster
This paper presents the design and experimental validation of a magnetic end-effector optimized for the robust manipulation of a tethered magnetic endoscope in six-degrees-of-freedom (6-DoF). The symmetrical end-effector integrates two pairs of permanent magnets that generate a stable 2D attraction …