3 papers
cs.RO2026
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…
cs.RO2025
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…
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…