Lavinia Barducci — accepted AI-conference papers

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 58 Source ↗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 116 Source ↗Scholar ↗