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Ian D. Walker

25 accepted papers

2024

Design of Two Morphing Robot Surfaces and Results from a User Study On What People Want and Expect of Them, Towards a "Robot-Room"

Nithesh Kumar, Hsin-Ming Chao, Bruno Dantas Da Silva Tassari, Elena Sabinson, Ian D. Walker, Keith E. Green
ICRA 2024poster

We propose, examine prototypes of, and collect user input on morphing robotic surfaces, "robot-room" elements that, individually or in combination, change the functionality of the rooms we live in, directly controlled by the room’s occupants engaging with it. Robot-rooms represent an advance in huma…

Cited by 0Source ↗Scholar ↗
2022

3D Printing of Concrete with a Continuum Robot Hose Using Variable Curvature Kinematics

Manu Srivastava, Jake Ammons, Abdul B. Peerzada, Venkat N. Krovi, Prasad Rangaraju, Ian D. Walker
ICRA 2022poster

We present a novel application of continuum robots acting as concrete hoses to support 3D printing of cementitious materials. An industrial concrete hose was fitted with a cable harness and remotely actuated via tendons. The resulting continuum hose robot exhibited non constant curvature. In order t…

Cited by 15Source ↗Scholar ↗
2022

A Continuum Robot Surface of Woven, McKibben Muscles Embedded in and Giving Shape to Rooms

Grace Tan, Harrison Hidalgo, Hsin-Liu Kao, Ian. D. Walker, Keith E. Green
ICRA 2022poster

Robots are typically designed as occupants of rooms, adapting to, and navigating within them. “Robot surfaces,” an emerging robot typology, are not occupants of but integral with rooms, physically shaping rooms to support human activity. We report on an advancement of robot surfaces formed by weavin…

Cited by 2Source ↗Scholar ↗
2020

A Haptic Continuum Interface for the Teleoperation of Extensible Continuum Manipulators

Chase G. Frazelle, Apoorva D. Kapadia, Ian D. Walker
RA-L 2020

We describe a novel haptic interface designed specifically for the teleoperation of extensible continuum manipulators. The proposed device is based off of, and extends to the haptic domain, a kinematically similar input device for continuum manipulators called the MiniOct. This letter describes the

Cited by 19Source ↗Scholar ↗
2020

Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR)

Kayode Sonaike, S. M. Hadi Sadati, Christos Bergeles, Ian D. Walker
IROS 2020poster

Tendrils are common stable structures in nature and are used for sensing, actuation, and geometrical stiffness modulation. In this paper, for the first time we exploit the helical geometry of a shape memory alloy (SMA) tendril as a simple to fabricate highly dexterous robotic continuum tentacle that…

Cited by 2Source ↗Scholar ↗
2020

Mechanics for Tendon Actuated Multisection Continuum Arms

Phanideep S. Gonthina, Michael B. Wooten, Isuru S. Godage, Ian D. Walker
ICRA 2020poster

Tendon actuated multisection continuum arms have high potential for inspection applications in highly constrained spaces. They generate motion by axial and bending deformations. However, because of the high mechanical coupling between continuum sections, variable length-based kinematic models produc…

Cited by 18Source ↗Scholar ↗
2020

Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings

S. M. Hadi Sadati, Ali Shiva, Nicolas Herzig, D. Caleb Rucker, Helmut Hauser, Ian D. Walker +3
RA-L 2020

In this letter, we propose benefiting from load readings at the base of a continuum appendage for real-time forward integration of Cosserat rod model with application in configuration and tip load estimation. The application of this method is successfully tested for stiffness imaging of a soft tissu

Cited by 31Source ↗Scholar ↗
2019

Design and Characterization of a Novel Robotic Surface for Application to Compressed Physical Environments

Yixiao Wang, Chase Frazelle, Richa Sirohi, Liheng Li, Ian D. Walker, Keith E. Green
ICRA 2019poster

Developments of robot arms are countless, but there has been little focus on robot surfaces for the reshaping of a habitable space—especially compliant surfaces. In this paper we introduce a novel, tendon-driven, robot surface comprised of aggregated, overlapping panels organized in a herringbone pa…

Cited by 19Source ↗Scholar ↗
2019

Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves

Phanideep S. Gonthina, Apoorva D. Kapadia, Isuru S. Godage, Ian. D. Walker
ICRA 2019poster

In this paper, we propose and investigate a new approach to modeling variable curvature continuum robot sections, based on Euler spirals. Euler spirals, also termed Clothoids, or Cornu spirals, are those curves in which the curvature increases linearly with their arc length. In this work, Euler spir…

Cited by 73Source ↗Scholar ↗
2019

Motion Planning for a Continuum Robotic Mobile Lamp: Defining and Navigating the Configuration Space

Zachary Hawks, Chase Frazelle, Keith E. Green, Ian D. Walker
IROS 2019poster

We discuss motion planning in the configuration spaces of robots containing continuum elements. The configuration space structure of extensible continuum sections is first analyzed, with practical constraints unique to continuum elements identified. The results are applied to generate the configurat…

Cited by 10Source ↗Scholar ↗
2019

TREE: A Variable Topology, Branching Continuum Robot

Michael C. Lastinger, Siddharth Verma, Apoorva D. Kapadia, Ian D. Walker
ICRA 2019poster

We describe the design and physical realization of a novel branching continuum robot, aimed at inspection and cleaning operations in hard-to-reach environments at depths greater than human arm lengths. The design, based on a hybrid concentric-tube/tendon actuated continuum trunk core, features two p…

Cited by 18Source ↗Scholar ↗
2018

Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz-Galerkin Methods

S. M. Hadi Sadati, S. Elnaz Naghibi, Ian D. Walker, Kaspar Althoefer, D. P. Thrishantha Nanayakkara
RA-L 2018

To address the challenges with real-time accurate modeling of multisegment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic methods. By combining a modified Lagrange p

Cited by 107Source ↗Scholar ↗
2018

Exploration and Inspection with Vine-Inspired Continuum Robots

Michael Wooten, Chase Frazelle, Ian D. Walker, Apoorva Kapadia, Jason H. Lee
ICRA 2018poster

In this paper, we show how structures and strategies employed by thin-stemmed plants can be adapted to improve robot access to unstructured and congested environments. Specifically, we show how the use of vine-inspired movement strategies can enhance long thin continuum robot exploration and inspect…

Cited by 67Source ↗Scholar ↗
2018

Modelling an Actuated Large Deformation Soft Continuum Robot Surface Undergoing External Forces Using a Lumped-Mass Approacb* Research supported by UK Engineering and Physical Sciences Research Council (EPSRC)

Hossein Habibi, Chenghao Yang, Rongjie Kang, Ian D. Walker, Isuru S. Godage, Xin Dong +1
IROS 2018

Precise actuation of continuum surfaces in combination with continuum robotic arms that undergo large deformation is of high interest in soft robotics but of limited model-based study to date. This work develops this area towards enabling the robust design and control of large deformation continuum

Cited by 1Source ↗Scholar ↗
2018

Modelling an Actuated Large Deformation Soft Continuum Robot Surface Undergoing External Forces Using a Lumped-Mass Approach

Hossein Habibi, Chenghao Yang, Rongjie Kang, Ian D. Walker, Isuru S. Godage, Xin Dong +1
IROS 2018poster

Precise actuation of continuum surfaces in combination with continuum robotic arms that undergo large deformation is of high interest in soft robotics but of limited model-based study to date. This work develops this area towards enabling the robust design and control of large deformation continuum…

Cited by 11Source ↗Scholar ↗
2018

Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators

S. M. Hadi Sadati, Luis Sullivan, Ian D. Walker, Kaspar Althoefer, D. P. Thrishantha Nanayakkara
RA-L 2018

We present a three-dimensional (3-D)-printable thermoactive scale jamming interface as a new way to control a continuum manipulator dexterity by taking inspiration from the helical arrangement of fish scales. A highly articulated helical interface is 3-D-printed with thermoactive functionally graded

Cited by 14Source ↗Scholar ↗
2016

A geometry deformation model for compound continuum manipulators with external loading

S. M. Hadi Sadati, Ali Shiva, Ahmad Ataka, S. Elnaz Naghibi, Ian D. Walker, Kaspar Althoefer +1
ICRA 2016

The complexity of soft continuum manipulators with hybrid and tuneable structures poses a challenging task to achieve an inverse kinematics model which is both precise and computationally efficient for control and optimization purposes. In this paper, a new method based on the principle of virtual w

Cited by 25Source ↗Scholar ↗
2016

Teleoperation mappings from rigid link robots to their extensible continuum counterparts

Chase G. Frazelle, Apoorva D. Kapadia, Katelyn E. Fry, Ian D. Walker
ICRA 2016

We present a novel approach to teleoperation of continuum robots. In contrast to previous approaches restricted to three Degree-of-Freedom (DoF) joysticks, a six degree-of-freedom rigid-link manipulator is used as the input device. Mappings from the rigid-link arm to the continuum robot are synthesi

Cited by 18Source ↗Scholar ↗
2015

Autonomous robotic refueling of an unmanned surface vehicle in varying sea states

Gregory P. Scott, C. Glen Henshaw, Ian D. Walker, Bryan Willimon
IROS 2015poster

In an effort to improve sailor safety during underway replenishment on the open sea, a robotic refueling system has been developed to autonomously refuel unmanned surface vehicles (USVs). The Rapid Autonomous Fuel Transfer (RAFT) project has demonstrated a methodology that could be used on the open…

Cited by 25Source ↗Scholar ↗
2015

Spatial kinematic modeling of a long and thin continuum robotic cable

Manas M. Tonapi, Isuru S. Godage, Amith M. Vijaykumar, Ian D. Walker
ICRA 2015poster

In this paper, we present a new forward kinematic model for a novel class of long and thin continuum robots for operation in spatial workspace. Such robots are well suited for navigation through unstructured environments with superior reach using their flexible and thin profile, especially for inspe…

Cited by 26Source ↗Scholar ↗