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 = {Sadati, SM and Naghibi, SE and Shiva, A and Walker, ID and Althoefer, K and Nanayakkara, T},
doi = {10.1007/978-3-319-64107-2_56},
pages = {686--702},
publisher = {Springer},
title = {Mechanics of continuum manipulators, a comparative study of five methods with experiments},
url = {},
year = {2017}

RIS format (EndNote, RefMan)

AB - Investigations on control and optimization of continuum manipulators have resulted in a number of kinematic and dynamic modeling approaches each having their own advantages and limitations in various applications. In this paper, a comparative study of five main methods in the literature for kinematic, static and dynamic modeling of continuum manipulators is presented in a unified mathematical framework. The five widely used methods of Lumped system dynamic model, Constant curvature, two-step modified constant curvature, variable curvature Cosserat rod and beam theory approach, and series solution identification are re-viewed here with derivation details in order to clarify their methodological differences. A comparison between computer simulations and experimental results using a STIFF-FLOP continuum manipulator is presented to study the advantages of each modeling method.
AU - Sadati,SM
AU - Naghibi,SE
AU - Shiva,A
AU - Walker,ID
AU - Althoefer,K
AU - Nanayakkara,T
DO - 10.1007/978-3-319-64107-2_56
EP - 702
PB - Springer
PY - 2017///
SN - 0302-9743
SP - 686
TI - Mechanics of continuum manipulators, a comparative study of five methods with experiments
UR -
UR -
ER -