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Marco Ferro

4 accepted papers

2026

Simplified 3D Control of Magnetic Objects by a Triple-Coil Static Unit on a Robotic Arm

Luca Cinus, Jessé De Oliveira Santana Alves, Tamerlan Srymbetov, Marco Ferro, Claudio Pacchierotti, Arianna Menciassi +1
ICRA 2026poster

Magnetic actuation is a powerful, non-contact method for controlling milli-scale robots. However existing mobile magnetic field sources face a difficult trade-off. Single-coil end effectors are simple but underactuated, forcing complex and inefficient robot motions to steer objects. Conversely, mult…

Cited by 0Scholar ↗
2025

Haptic Shared Control of a Pair of Microrobots for Telemanipulation using Constrained Optimization

Leon Raphalen, Marco Ferro, Sarthak Misra, Paolo Robuffo Giordano, Claudio Pacchierotti
IROS 2025

Microrobotics implies actuation-related constraints that make safe telemanipulation particularly challenging. We present a haptic shared control system for electromagnetic-based telemanipulation of a pair of microrobots using a constrained optimization framework. Our contributions include: (1) a Qua

Cited by 3Source ↗Scholar ↗
2023

A CoppeliaSim Dynamic Simulator for the Da Vinci Research Kit

Marco Ferro, Alessandro Mirante, Fanny Ficuciello, Marilena Vendittelli
RA-L 2023

The design of a physics-based dynamic simulator of a robot requires to properly integrate the robot kinematic and dynamic properties in a virtual environment. Naturally, the closer is the integrated information to the real robot properties, the more accurate the simulator predicts the real robot beh

Cited by 18Source ↗Scholar ↗