8 citations · 26 across the 7 of their papers we have counts for
7 papers · 1 filter
Swim2Real: VLM-Guided System Identification for Sim-to-Real Transfer
Kevin Qiu, Kyle Walker, Mike Y. Michelis +2
We present Swim2Real, a pipeline that calibrates a 16-parameter robotic fish simulator from swimming videos using vision-language model (VLM) feedback, requiring no hand-designed s…
Computing forward statics from tendon-length in flexible-joint hyper-redundant manipulators
Weiting Feng, Kyle L. Walker, Yunjie Yang +1
Hyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting…
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…
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…
Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators
Kyle L. Walker, Cosimo Della Santina, Francesco Giorgio-Serchi
Inspired by the octopus and other animals living in water, soft robots should naturally lend themselves to underwater operations, as supported by encouraging validations in deep wa…
Disturbance Preview for Nonlinear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments
Kyle L. Walker, Francesco Giorgio-Serchi
Operating in the near-vicinity of marine energy devices poses significant challenges to the control of underwater vehicles, predominantly due to the presence of large magnitude wav…
Feed-forward Disturbance Compensation for Station Keeping in Wave-dominated Environments
Kyle L. Walker, Adam A. Stokes, Aristides Kiprakis +1
When deploying robots in shallow ocean waters, wave disturbances can be significant, highly dynamic and pose problems when operating near structures; this is a key limitation of cu…