Tomás da Veiga — 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 ↗

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 17 Source ↗Scholar ↗

2020

A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots

Peter Lloyd, Ali Kafash Hoshiar, Tomás da Veiga, Aleks Attanasio, Nils Marahrens, James Henry Chandler +1

RA-L 2020

Soft continuum robots have the potential to revolutionize minimally invasive surgery. The challenges for such robots are ubiquitous; functioning within sensitive, unstructured and convoluted environments which are inconsistent between patients. As such, there exists an open design problem for robots

Cited by 70 Source ↗Scholar ↗