Ian D. Walker
Office: 320 Fluor Daniel Engineering Innovation Building
             Phone: (864) 656-7209 Fax: (864) 656-7220
 

SELECTED PUBLICATIONS

TRUNK AND TENTACLE "CONTINUUM" ROBOTS

Review Articles

I.D. Walker. Some Issues in Creating "Invertebrate" Robots. In the Proceedings of the International Symposium on Adaptive Motion of Animals and Machines, Montreal, Canada, August 2000.

D. Trivedi, C.D. Rahn, W.M. Kier, and I.D. Walker. Soft Robotics: Biological Inspiration, State of the Art, and Future Research. Advanced Bionics and Biomechanics, Vol. 5, No. 2, September 2008, pp. 99-117.

I.D. Walker. Continuous Backbone "Continuum" Robot Manipulators. ISRN Robotics, Vol. 2013, July 2013, pp. 1-19.

Research Contributions

I.A. Gravagne and I.D. Walker. Manipulability, Force, and Compliance Analysis for Planar Continuum Manipulators. IEEE Transactions on Robotics and Automation, Vol. 18, No. 3, June 2002, pp. 263-273.

M.A. Hannan and I.D. Walker. Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots. Journal of Robotic Systems, Vol. 20, No. 2, February 2003, pp. 45-63.

I.D. Walker, D. Dawson, T. Flash, F. Grasso, R. Hanlon, B. Hochner, W.M. Kier, C. Pagano, C.D. Rahn, and Q. Zhang. Continuum Robot Arms Inspired by Cephalopods. In the Proceedings of the 2005 SPIE Conference on Unmanned Ground Vehicle Technology IV, Orlando, Florida, USA, March 2005, pp. 303-314.

B. Jones and I.D. Walker. Kinematics for Multi-Section Continuum Robots. IEEE Transactions on Robotics, Vol. 22, No. 1, February 2006, pp. 45-53.

W. McMahan, V. Chitrakaran, M. Csencsits, D. Dawson, I.D. Walker, B. Jones, M. Pritts, D. Dienno, M. Grissom, and C.D. Rahn. Field Trials and Testing of the OctArm Continuum Manipulator. In the proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA), Orlando, FL, May 2006, pp 2336-2341.

S. Neppalli, M. Csencsits, B. Jones, and I.D. Walker. A Geometrical Approach to Inverse Kinematics for Continuum Manipulators. In the proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), Nice, France, September 2008, pp 3565-3570 (finalist, Best Conference Paper Award).

W. McMahan and I.D. Walker. Octopus-Inspired Grasp Synergies for Continuum Manipulators. In the Proceedings of the IEEE International Conference on Robotics and Biomimetics, Bangkok, Thailand, February 2009, pp. 945-950.

A. Kapadia and I.D. Walker. Task Space Control of Extensible Continuum Manipulators. In the Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), San Francisco, CA, September 2011, pp. 1087-1092.

N. Giri and I.D. Walker. Three Module Lumped Element Model of a Continuum Arm Section. In the Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), San Francisco, CA, September 2011, pp. 4060-4065.

L.S. Cowan and I.D. Walker. The Importance of Continuous and Discrete Elements in Continuum Robots. International Journal of Advanced Robotic Systems, March 2013, pp 1-13.

A. Kapadia and I.D. Walker. Self-Motion Analysis of Extensible Continuum Manipulators. In the Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013, pp. 1980-1986.

J. Li, Z. Teng, J. Xiao, A. Kapadia, A Bartow, and I.D. Walker. Autonomous Continuum Grasping. In the Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), Tokyo, Japan, November 2013, pp. 4569-4576.

M.M. Tonapi, I.S. Godage, and I.D. Walker. Design, Modeling and Performance Evaluation of a Long and Slim Continuum Robotic Cable. In the Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), Chicago, IL, September 2014, pp. 2852-2859.

I.S. Godage and I.D. Walker. Dual Quaternion Based Modal Kinematics for Multisection Continuum Arms. In the Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, May 2015, pp. 1416-1422.

G.P. Scott, C.G. Henshaw, I.D. Walker, and B. Willimon. Autonomous Robotic Refueling of an Unmanned Surface Vessel in Varying Sea States. In the Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), Hamburg, Germany, October 2015, pp. 1664-1671.

J.L. Santiago, P. Gonthina, I.S. Godage, and I.D. Walker. Soft Robots and Kangaroo Tails: Modulating Compliance in Continuum Structures via Mechanical Layer Jamming. Soft Robotics, Vol. 3, No. 2, 2016, pp. 54-63, 2016.

C.G. Frazelle, A.D. Kapadia, K.E. Fry, and I.D. Walker. Teleoperation Mappings from Rigid Link Robots to their Extensible Continuum Counterparts. In the Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016.

C.G. Frazelle, A. Kapadia, and I.D. Walker. Developing a Kinematically Similar Master Device for Extensible Continuum Robot Manipulators. ASME Journal of Mechanisms and Robotics, 10(2), doi: 10.1115/1.4039075, April 2018, pp. 025005-1-8.

M.B. Wooten, C.G. Frazelle, I.D. Walker, A.D. Kapadia, and J.H. Lee. Exploration and Inspection with Vine-Inspired Continuum Robots. Proceedings IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018, pp. 5526-5523.

C.G. Frazelle, A.D. Kapadia, and I.D. Walker. A Nonlinear Control Strategy for Extensible Continuum Robots. Proceedings IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018, pp. 7727-7734.

M. Wooten and I.D. Walker. Vine-Inspired Continuum Tendril Robots and Circumnutations. Robotics, 7(3), doi:10.3390/robotics7030058, September 2018., pp. 1-16.

P. Gonthina, A.D. Kapadia, I.S. Godage, and I.D. Walker. Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves. Proceedings IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019, pp. 1679-1685.

M.C. Lastinger, S. Verma, A.D. Kapadia, and I.D. Walker. TREE: A Variable Topology, Branching Continuum Robot. Proceedings IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019, pp. 5365-5371.

I.S. Godage, R.J. Webster, III, and I.D. Walker. Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms. IEEE Transactions on Robotics, Vol. 35, No. 5, October 2019, pp. 1097-1108.

C.G. Frazelle, A. Kapadia, and I.D. Walker. A Haptic Continuum Interface for the Teleoperation of Extensible Continuum Manipulators. IEEE Robotics and Automation Letters, 5(2), doi: 10.1109/LRA.2020.2970642, April 2020, pp. 1875-1882.

P. Gonthina, M.B. Wooten, I.S. Godage, and I.D. Walker. Mechanics for Tendon Actuated Multisection Continuum Arms. Proceedings IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020, pp. 3896-3902.

C.G. Frazelle, J. Rogers, I. Karamouzas, and I.D. Walker. Optimizing a Continuum Manipulator's Search Policy Through Model-Free Reinforcement Learning. To appear, 2020 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), Las Vegas, NV, October 2020.

C. Wang, C.G. Frazelle, J.R. Wagner, and I.D. Walker. Dynamic Control of Multi-Section Three-Dinmensional Continuum Manipulators Based on Virtual Discrete-Jointed Robot Models. To appear, IEEE/ASME Transactions on Mechatronics, 2020.
 

ARCHITECTURAL ROBOTICS

K.E. Green, L.J. Gugerty, I.D. Walker, and J.C. Witte. AWE: Animated Work Environment: Ambient Intelligence in Working Life. In the Proceedings of the 2005 Conference on Intelligent Ambience and Well-Being (Ambience), Tampere, Finland, September 2005, pp. 1-7.

K.E. Green, I.D. Walker, L.J. Gugerty, and J.C. Witte. Three Robot-Rooms/ The AWE Project. In the Proceedings of the 2006 CHI Conference, Montreal, Canada, April 2006.

I.D. Walker and K.E. Green. Architectural Robotics: Unpacking the Humanoid. In the Supplemental Proceedings of the Eleventh International Conference on Ubiquitous Computing (UBICOMP), Florida, USA, September 2009, pp. 28-29.

A. Kapadia, I.D. Walker, K.E. Green, J.C. Manganelli, H. Houayek, A. James, V.K.T. Kanuri, T. Mokhtar, I. Siles, and P. Yanik. Architectural Robotics: an Interdisciplinary Course Rethinking the Machines We Live In. In the Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, May 2010, pp. 48-53.

J. Merino, A.L. Threatt, K.E. Green, and I.D. Walker. Forward Kinematic Models for Continuum Robotic Surfaces. In the Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), Vilamoura, Portugal, October 2012, pp. 3453-3460.

P.M. Yanik, J. Manganelli, J, Merino, A.L. Threatt, J.O. Brooks, K.E. Green, and I.D. Walker. A Gesture Learning Interface for Simulated Robot Path Shaping with a Human Teacher. IEEE Transactions on Human Machine Systems, Vol. 44, No. 1, February 2014, pp. 41-65.

H. Houayek, K.E. Green, L. Gugerty, I.D. Walker, and J.C. Witte. AWE: A Robot-Architecture for Working with Physical and Digital Tools and Artifacts. Journal of Personal and Ubiquitous Computing, Vol. 18, Issue 5, June 2014, pp. 1227-1241.

C. De Aguiar, R. Fateminasab, C. Frazelle, R. Scott, Y. Wang, M. Wooten, K.E. Green, and I.D. Walker. The Networked, Robotic home+ Furniture Suite: a Distributed, Assistive Technology Facilitating Aging in Place. Proceedings IEEE International Conference on Automation Science and Engineering (CASE), Fort Worth, TX, August 2016, pp. 1067-1072.

G. Schafer, S. Fullerton, A. Vijaykumar, I.D. Walker, and K.E. Green. Words Become Worlds: The LIT ROOM, A Literacy Support Tool at Room Scale. Proceedings ACM Conference on Designing Interactive Systems (DIS), Hong Kong, June 2018, pp. 511-522. (Winner, Best Paper Award).

Y. Wang, C. Frazelle, R. Sirohi, L. Li, I.D. Walker, and K.E. Green. Design and Characterization of a Novel Robotic Surface for Application to Compressed Physical Environments. Proceedings IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019, pp. 102-108.

R. Sirohi, Y. Wang, S. Hollenberg, I.S. Godage, K.E. Green, and I.D. Walker. Design and Characterization of a Novel, Continuum-Robot Surface for the Human Environment. Proceedings IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019, pp. 1169-1174.

Z. Hawks, C. Frazelle, K.E. Green, and I.D. Walker. Motion Planning for a Continuum Robotic Mobile Lamp: Defining and Navigating the Configuration Space. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macao, China, November 2019, pp. 2559-2566.
 

Ian D. Walker/iwalker@clemson.edu