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Adam A. Stokes

6 accepted papers

2024

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, Rahul R. Ramachandran, Adam A. Stokes, Kenjiro Tadakuma +2
ICRA 2024poster

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 sufficient load and effectively reject external disturbances are two drawbacks which limit the scale of continuum designs, preven…

Cited by 1Source ↗Scholar ↗
2023

Mechanical Characterisation of Woven Pneumatic Active Textile

Ruby Marshall, Jean-Baptiste R. G. Souppez, Mariya Khan, Ignazio Maria Viola, Hiroyuki Nabae, Koichi Suzumori +2
RA-L 2023

Active textiles have shown promising applications in soft robotics owing to their tunable stiffness and design flexibility. Given the breadth of the design space for planar and spatial arrangements of these woven structures, a rigorous and generalizable characterisation of these systems is not yet a

Cited by 7Source ↗Scholar ↗
2022

The Soft Compiler: A Web-Based Tool for the Design of Modular Pneumatic Circuits for Soft Robots

Savita V. Kendre, Lauryn Whiteside, Tian Y. Fan, Jovanna A. Tracz, Gus T. Teran, Thomas C. Underwood +6
RA-L 2022

Developing soft circuits from individual soft logic gates poses a unique challenge: with increasing numbers of logic gates, the design and implementation of circuits lead to inefficiencies due to mathematically unoptimized circuits and wiring mistakes during assembly. It is therefore practically imp

Cited by 14Source ↗Scholar ↗
2021

Experimental Validation of Unsteady Wave Induced Loads on a Stationary Remotely Operated Vehicle

Kyle L. Walker, Roman Gabl, Simona Aracri, Yu Cao, Adam A. Stokes, Aristides Kiprakis +1
ICRA 2021poster

Shallow water environments pose daunting scenarios for the operation of Unmanned Underwater Vehicles (UUVs), due to significantly larger wave disturbances being present in comparison to a typical deep sea situation. Performing inspection and maintenance tasks at close quarters in these conditions re…

Cited by 7Source ↗Scholar ↗
2021

Experimental Validation of Wave Induced Disturbances for Predictive Station Keeping of a Remotely Operated Vehicle

Kyle L. Walker, Roman Gabl, Simona Aracri, Yu Cao, Adam A. Stokes, Aristides E. Kiprakis +1
RA-L 2021

Predictive control methods can substantially improve the performance of Unmanned Underwater Vehicles (UUVs), particularly in shallow water environments or near the free surface where wave induced disturbance are of magnitude comparable to the vehicle characteristic inertia. To facilitate the adoptio

Cited by 40Source ↗Scholar ↗