Kulyuru was born in 1943, at Wamitjara, a rockhole near Kenmore Park (now Yunyarinyi). This is in the far north of South Australia, near the border with the Northern Territory. Her family are Pitjantjatjara. They lived a traditional life in the bush, but settled at Ernabella soon after Kulyuru was born. When she grew up, Kulyuru started work in the community's craft centre after originally working at the school. She began learning batik methods in the 1970s, and became one of Ernabella Arts' most prolific and well-known batik artists. Kulyuru has nine children. Five of Angkuna's daughters have also become artists: Unurupa (born 1962), Amanda (1964), Karen (1969), Daisybell (1972) and Tjulyata (1978).