Simone Caló — accepted AI-conference papers

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 27 Source ↗Scholar ↗

2020

Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators

Federico Campisano, Andria A. Remirez, Simone Caló, James Henry Chandler, Keith L. Obstein, Robert J. Webster III +1

RA-L 2020

Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of designs and to various levels of constitutive stiffness. Indep

Cited by 22 Source ↗Scholar ↗

2020

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

Federico Campisano, Andria A. Remirez, Claire A. Landewee, Simone Caló, Keith L. Obstein, Robert J. Webster III +1

RA-L 2020

Gastric cancer is the third leading cause of cancer deaths worldwide, with most new cases occurring in low and middle income countries, where access to screening programs is hindered by the high cost of conventional endoscopy. The waterjet-actuated HydroJet endoscopic platform was developed as a low

Cited by 19 Source ↗Scholar ↗