2 papers
cs.RO2025
Closed-Loop Control and Disturbance Mitigation of an Underwater Multi-Segment Continuum Manipulator
Kyle L. Walker, Hsing-Yu Chen, Alix J. Partridge +3
The use of soft and compliant manipulators in marine environments represents a promising paradigm shift for subsea inspection, with devices better suited to tasks owing to their ab…
cs.RO2024
A Modular, Tendon Driven Variable Stiffness Manipulator with Internal Routing for Improved Stability and Increased Payload Capacity
Kyle L. Walker, Alix J. Partridge, Hsing-Yu Chen +5
Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficien…