S. Scheggi PhD (Stefano)


Motion Planning
Minimally Invasive Surgical Procedures


Scheggi, S., Yoon, C., Ghosh, A., Gracias, D. H., & Misra, S. (2018). A GPU-accelerated model-based tracker for untethered submillimeter grippers. Robotics and autonomous systems, 103, 111-121. DOI: 10.1016/j.robot.2017.11.003
Scheggi, S., Chandrasekar, K. K. T., Yoon, C., Sawaryn, B., van de Steeg, G., Gracias, D. H., & Misra, S. (2017). Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (pp. -). Singapore: IEEE.
Ongaro, F., Scheggi, S., Yoon, C., van den Brink, F., Oh, S. H., Gracias, D. H., & Misra, S. (2017). Autonomous Planning and Control of Soft Untethered Grippers in Unstructured Environments. Journal of micro-bio robotics, 12(1-4), 45-52. DOI: 10.1007/s12213-016-0091-1
Scheggi, S., Yoon, C., Gracias, D. H., & Misra, S. (2016). Model-based tracking of miniaturized grippers using particle swarm optimization. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS 2016) (pp. 454-459). Daejeon, Korea: IEEE. DOI: 10.1109/IROS.2016.7759093
Boskma, K. J., Scheggi, S., & Misra, S. (2016). Closed-loop control of a magnetically-Actuated catheter using two-dimensional ultrasound images. In S. Kukreja, & L. Masia (Eds.), Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 61-66). Singapore: IEEE Computer Society. DOI: 10.1109/BIOROB.2016.7523599
Scheggi, S., & Misra, S. (2016). An experimental comparison of path planning techniques applied to micro-sized magnetic agents. In S. Haliyo, A. Sill, S. Regnier, & S. Fatikow (Eds.), Proceedings of the Annual International Conference on Manipulation, Automation, and Robotics at Small Scales (MARSS) (pp. 1-6). Paris, France: IEEE. DOI: 10.1109/MARSS.2016.7561695

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