16 citations · 24 across the 4 of their papers we have counts for
5 papers
A Novel Variable Stiffness Soft Robotic Gripper
Dimuthu D. Arachchige, Yue Chen, Ian D. Walker +1
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The prop…
Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms
Isuru S. Godage, Robert J. Webster, Ian D. Walker
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus…
Dynamic Control of Pneumatic Muscle Actuators
Isuru S. Godage, Yue Chen, Ian D. Walker
Pneumatic muscle actuators (PMA) are easy-to-fabricate, lightweight, compliant, and have high power-to-weight ratio, thus making them the ideal actuation choice for many soft and c…
An Energy Minimization Approach to 3D Non-Rigid Deformable Surface Estimation Using RGBD Data
Bryan Willimon, Steven Hickson, Ian Walker +1
We propose an algorithm that uses energy mini- mization to estimate the current configuration of a non-rigid object. Our approach utilizes an RGBD image to calculate corresponding…
A Mobile Robotic Personal Nightstand with Integrated Perceptual Processes
Vidya N. Murali, Anthony L. Threatt, Joe Manganelli +8
We present an intelligent interactive nightstand mounted on a mobile robot, to aid the elderly in their homes using physical, tactile and visual percepts. We show the integration o…