Dimuthu D. K. Arachchige — accepted AI-conference papers

2024

Tumbling Locomotion of Tetrahedral Soft-Limbed Robots

Dimuthu D. K. Arachchige, Dulanjana M. Perera, Umer Huzaifa, Iyad Kanj, Isuru S. Godage

RA-L 2024

Soft robots, known for their compliance and deformable nature, have emerged as a transformative field, giving rise to various prototypes and locomotion capabilities. Despite continued research efforts that have shown significant promise, the quest for energy-efficient mobility in soft-limbed robots

Cited by 5 Source ↗Scholar ↗

2021

Anticipatory Path Planning for Continuum Arms in Dynamic Environments

Brandon H. Meng, Dimuthu D. K. Arachchige, Jiahao Deng, Isuru S. Godage, Iyad Kanj

ICRA 2021poster

Continuum arms are more adaptable to their environments and inherently human-friendly compared to their rigid counterparts. Path planning of continuum arms is an active research area with many challenges. The hyper-redundancy of continuum arms, which renders them highly versatile, is their curse in…

Cited by 7 Source ↗Scholar ↗