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




RCS1 M229Dyson BuildingSouth Kensington Campus






BibTex format

author = {Godage, IS and Nanayakkara, T and Caldwell, DG},
doi = {10.1109/IROS.2012.6385810},
pages = {293--298},
title = {Locomotion with continuum limbs},
url = {},
year = {2012}

RIS format (EndNote, RefMan)

AB - This paper presents the kinematics, dynamics, and experimental results for a novel quadruped robot using continuum limbs. We propose soft continuum limbs as a new paradigm for robotic locomotion in unstructured environments due to their potential to generate a wide array of locomotion behaviors ranging from walking, trotting, crawling, and propelling to whole arm grasping as a means of negotiating difficult obstacles. A straightforward method to derive the kinematics and dynamics for the proposed quadruped has been demonstrated through numerical simulations. Initial experiments on a prototype continuum quadruped demonstrate the ability to stand up from a flat-belly stance, absorb external disturbances such as maintaining stability after dropping from a height and after being perturbed by a collision, and crawling on flat and cluttered environments. Experiment results provide evidence that locomotion with soft continuum limbs are feasible and usable in unstructured environments for variety of applications. © 2012 IEEE.
AU - Godage,IS
AU - Nanayakkara,T
AU - Caldwell,DG
DO - 10.1109/IROS.2012.6385810
EP - 298
PY - 2012///
SN - 2153-0858
SP - 293
TI - Locomotion with continuum limbs
UR -
ER -