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Giovanni Pittiglio

12 accepted papers

2024

Breathing Compensation in Magnetic Robotic Bronchoscopy via Shape Forming

Nikita Murasovs, Vittorio Francescon, Peter Lloyd, Michele Di Lecce, Damith S. Chathuranga, Giovanni Pittiglio +3
RA-L 2024

Despite the increased interest in robotic systems designed for bronchoscopy, the influence of the bronchial tree dynamics remains relatively unexplored. To enable robotic solutions to perform successful autonomous navigations whilst minimizing contact with the internal anatomy, they must be capable

Cited by 4Source ↗Scholar ↗
2023

A Magnetically-Actuated Coiling Soft Robot With Variable Stiffness

Peter Lloyd, Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, Giovanni Pittiglio, James Henry Chandler, Pietro Valdastri +1
RA-L 2023

Soft and flexible magnetic robots have gained significant attention in the past decade. These robots are fabricated using magnetically-active elastomers, are capable of large deformations, and are actuated remotely thus allowing for small robot size. This combination of properties is appealing to th

Cited by 21Source ↗Scholar ↗
2023

Closed Loop Static Control of Multi-Magnet Soft Continuum Robots

Giovanni Pittiglio, Andrew L. Orekhov, Tomás da Veiga, Simone Caló, James Henry Chandler, Nabil Simaan +1
RA-L 2023

This letter discusses a novel static control approach applied to magnetic soft continuum robot (MSCR). Our aim is to demonstrate the control of a multi-magnet soft continuum robot (SCR) in 3D. The proposed controller, based on a simplified yet accurate model of the robot, has a high update rate and

Cited by 27Source ↗Scholar ↗
2023

Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions

Giovanni Pittiglio, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, Pierre E. Dupont
IROS 2023poster

A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can approach a point in its workspace from one or at most severa…

Cited by 2Source ↗Scholar ↗
2023

Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation

Tomás da Veiga, Giovanni Pittiglio, Michael Brockdorff, James Henry Chandler, Pietro Valdastri
RA-L 2023

Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose estimation, these have been either under single external permanent m

Cited by 17Source ↗Scholar ↗
2022

Magnetic Soft Continuum Robots With Braided Reinforcement

Peter Lloyd, Onaizah Onaizah, Giovanni Pittiglio, Damith Katudampe Vithanage, James Henry Chandler, Pietro Valdastri
RA-L 2022

Flexible catheters are used in a wide variety of surgical interventions including neurological, pancreatic and cardiovascular. In many cases a lack of dexterity and miniaturization along with excessive stiffness results in large regions of the anatomy being deemed inaccessible. Soft continuum robots

Cited by 28Source ↗Scholar ↗
2020

Dual-Arm Control for Enhanced Magnetic Manipulation

Giovanni Pittiglio, James H. Chandler, Michiel Richter, Venkatasubramanian K. Venkiteswaran, Sarthak Misra, Pietro Valdastri
IROS 2020poster

Magnetically actuated soft robots have recently been identified for application in medicine, due to their potential to perform minimally invasive exploration of human cavities. Magnetic solutions permit further miniaturization when compared to other actuation techniques, without loss in functionalit…

Cited by 26Source ↗Scholar ↗
2019

Adaptive Dynamic Control for Magnetically Actuated Medical Robots

Lavinia Barducci, Giovanni Pittiglio, Joseph C. Norton, Keith L. Obstein, Pietro Valdastri
RA-L 2019

In the present work we discuss a novel dynamic control approach for magnetically actuated robots, by proposing an <i>adaptive control</i> technique, robust towards parametric uncertainties and unknown bounded disturbances. The former generally arise due to partial knowledge of the robots' dynamic pa

Cited by 58Source ↗Scholar ↗
2019

Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach

Giovanni Pittiglio, Lavinia Barducci, James W. Martin, Joseph C. Norton, Carlo Alberto Avizzano, Keith L. Obstein +1
RA-L 2019

The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permane

Cited by 116Source ↗Scholar ↗
2018

Dynamic Control of Cable Driven Parallel Robots with Unknown Cable Stiffness: a Joint Space Approach

Giovanni Pittiglio, Alexandros Kogkas, Joric Oude Vrielink, George Mylonas
ICRA 2018poster

In the present paper we discuss a novel dynamic controller for Cable Driven Parallel Robots, based on the Backstepping technique. The main challenge in controlling these robots, is expressing the dynamic equilibrium with respect to the joint variables. This drawback makes the definition of closed-lo…

Cited by 4Source ↗Scholar ↗