Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics



+44 (0)20 7594 0965t.nanayakkara Website CV




Dyson BuildingSouth Kensington Campus






BibTex format

author = {Sadati, SMH and Shiva, A and Ataka, A and Naghibi, SE and Walker, ID and Althoefer, K and Nanayakkara, T},
doi = {10.1109/ICRA.2016.7487702},
journal = {Proceedings - IEEE International Conference on Robotics and Automation},
pages = {4957--4962},
title = {A geometry deformation model for compound continuum manipulators with external loading},
url = {},
volume = {2016-June},
year = {2016}

RIS format (EndNote, RefMan)

AB - © 2016 IEEE. 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 work and a geometry deformation approach is presented for the inverse kinematics model of the STIFF-FLOP arm which is a pneumatically actuated continuum manipulator. We propose a novel simplified and computationally efficient yet accurate analytical solution to analyse the static behaviour of a compound soft manipulator in the presence of external and body forces which is verified against experimental data, showing promising agreement with 10% mean error for planar movements. In the process, we present a new modelling approach for braided soft extensor actuators with no braid-surface relative slip constraint. For the first time, our model predicts a simple analytical solution for the cross section deformation which is essential to control soft manipulators with regional tunable stiffness structure.
AU - Sadati,SMH
AU - Shiva,A
AU - Ataka,A
AU - Naghibi,SE
AU - Walker,ID
AU - Althoefer,K
AU - Nanayakkara,T
DO - 10.1109/ICRA.2016.7487702
EP - 4962
PY - 2016///
SN - 1050-4729
SP - 4957
TI - A geometry deformation model for compound continuum manipulators with external loading
T2 - Proceedings - IEEE International Conference on Robotics and Automation
UR -
VL - 2016-June
ER -