8 citations · 23 across the 17 of their papers we have counts for
18 papers
Study on Soft Robotic Pinniped Locomotion
Dimuthu D. K. Arachchige, Tanmay Varshney, Umer Huzaifa +5
Legged locomotion is a highly promising but under-researched subfield within the field of soft robotics. The compliant limbs of soft-limbed robots offer numerous benefits, includin…
Teleoperation of Soft Modular Robots: Study on Real-time Stability and Gait Control
Dulanjana M. Perera, Dimuthu D. K. Arachchige, Sanjaya Mallikarachchi +4
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and t…
Dynamic Modeling and Validation of Soft Robotic Snake Locomotion
Dimuthu D. K. Arachchige, Dulanjana M. Perera, Sanjaya Mallikarachchi +4
Soft robotic snakes made of compliant materials can continuously deform their bodies and, therefore, mimic the biological snakes' flexible and agile locomotion gaits better than th…
Wheelless Soft Robotic Snake Locomotion: Study on Sidewinding and Helical Rolling Gaits
Dimuthu D. K. Arachchige, Dulanjana M. Perera, Sanjaya Mallikarachchi +3
Soft robotic snakes (SRSs) have a unique combination of continuous and compliant properties that allow them to imitate the complex movements of biological snakes. Despite the previ…
Dynamic Control of Soft Robotic Arm: An Experimental Study
Milad Azizkhani, Anthony L. Gunderman, Isuru S. Godage +1
In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft…
A Surgical Platform for Intracerebral Hemorrhage Robotic Evacuation (ASPIHRE): A Non-metallic MR-guided Concentric Tube Robot
Anthony L. Gunderman, Saikat Sengupta, Eleni Siampli +7
Intracerebral hemorrhage (ICH) is the deadliest stroke sub-type, with a one-month mortality rate as high as 52%. Due to the potential cortical disruption caused by craniotomy, cons…
Hybrid Soft Robots Incorporating Soft and Stiff Elements
Dimuthu D. K. Arachchige, Isuru S. Godage
Soft robots are inherently compliant and have a strong potential to realize human-friendly and safe robots. Despite continued research highlighting the potential of soft robots, th…
Dynamic Control of Soft Robotic Arm
Milad Azizkhani, Isuru S. Godage, Yue Chen
In this article, the control problem of one section pneumatically actuated soft robotic arm is investigated in detail. To date, extensive prior work has been done in soft robotics…
Modeling and Validation of Soft Robotic Snake Locomotion
Dimuthu D. Arachchige, Yue Chen, Isuru S. Godage
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending…
A Novel Variable Stiffness Soft Robotic Gripper
Dimuthu D. Arachchige, Yue Chen, Ian D. Walker +1
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The prop…
Swimming locomotion of Soft Robotic Snakes
Isuru S. Godage
Bioinspired snake robotics has been a highly active area of research over the years and resulted in many prototypes. Much of these prototypes takes the form of serially jointed-rig…
Forward and Inverse Kinematics of a Single Section Inextensible Continuum Arm
Ali A. Nazari, Diego Castro, Isuru S. Godage
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulabilit…
Modal-based Kinematics and Contact Detection of Soft Robots
Yue Chen, Long Wang, Kevin Galloway +3
Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable comp…
Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms
Isuru S. Godage, Robert J. Webster, Ian D. Walker
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus…
Information Processing Capability of Soft Continuum Arms
Estefany A. Torres, Kohei Nakajima, Isuru S. Godage
Soft Continuum arms, such as trunk and tentacle robots, can be considered as the "dual" of traditional rigid-bodied robots in terms of manipulability, degrees of freedom, and compl…
Near-optimal Smooth Path Planning for Multisection Continuum Arms
Jiahao Deng, Brandon H. Meng, Iyad Kanj +1
We study the path planning problem for continuum-arm robots, in which we are given a starting and an end point, and we need to compute a path for the tip of the continuum arm betwe…
Dynamic Control of Pneumatic Muscle Actuators
Isuru S. Godage, Yue Chen, Ian D. Walker
Pneumatic muscle actuators (PMA) are easy-to-fabricate, lightweight, compliant, and have high power-to-weight ratio, thus making them the ideal actuation choice for many soft and c…
Efficient Reduced-Order Models for Soft Actuators
Yue Chen, Kevin C. Galloway, Isuru S. Godage
Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototy…