AIConfPaper
← Search

Lakmal Seneviratne

8 accepted papers

2024

Deep Learning-based Delay Compensation Framework For Teleoperated Wheeled Rovers on Soft Terrains

Ahmad Abubakar, Yahya Zweiri, Mubarak Yakubu, Ruqayya Alhammadi, Mohammed Mohiuddin, Abdel Gafoor Haddad +2
IROS 2024poster

The difficulties posed by terrain-induced slippage for wheeled rovers traversing soft terrains are critical to ensuring safe and precise mobility. While bilateral teleoperation systems offer a promising solution to this issue, the inherent network-induced delays hinder the fidelity of the closed-loo…

Cited by 0Source ↗Scholar ↗
2023

Vision-Based Autonomous Navigation for Unmanned Surface Vessel in Extreme Marine Conditions

Muhayyuddin Ahmed, Ahsan Baidar Bakht, Taimur Hassan, Waseem Akram, Ahmed Humais, Lakmal Seneviratne +3
IROS 2023poster

Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to identify the target for navigation. Reduced visibility under ex…

Cited by 14Source ↗code ↗Scholar ↗
2019

Design, Modeling and Testing of a Flagellum-inspired Soft Underwater Propeller Exploiting Passive Elasticity

Marcello Calisti, Francesco Giorgio-Serchi, Cesare Stefanini, Madiha Farman, Irfan Hussain, Costanza Armanini +3
IROS 2019poster

Flagellated micro-organism are regarded as excellent swimmers within their size scales. This, along with the simplicity of their actuation and the richness of their dynamics makes them a valuable source of inspiration to design continuum, self-propelled underwater robots. Here we introduce a soft, f…

Cited by 5Source ↗Scholar ↗
2018

A Geometric and Unified Approach for Modeling Soft-Rigid Multi-Body Systems with Lumped and Distributed Degrees of Freedom

Federico Renda, Lakmal Seneviratne
ICRA 2018poster

In this paper, a geometric and unified model of soft-rigid multi-body systems is presented, based on a discrete Cosserat approach of the soft-body dynamics. The model is in fact a generalization to soft and hybrid systems of the geometric theory of rigid robotics characterized by the exponential map…

Cited by 54Source ↗Scholar ↗
2018

Coverage Path Planning with Adaptive Viewpoint Sampling to Construct 3D Models of Complex Structures for the Purpose of Inspection

Randa Almadhoun, Tarek Taha, Dongming Gan, Jorge Dias, Yahya Zweiri, Lakmal Seneviratne
IROS 2018poster

In this paper, we introduce a coverage path planning algorithm with adaptive viewpoint sampling to construct accurate 3D models of complex large structures using Unmanned Aerial Vehicle (UAV). The developed algorithm, Adaptive Search Space Coverage Path Planner (ASSCPP), utilizes an existing 3D refe…

Cited by 34Source ↗Scholar ↗
2016

Discrete Cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears

Federico Renda, Vito Cacucciolo, Jorge Dias, Lakmal Seneviratne
IROS 2016poster

Modeling and control of soft robots is an up-to-date and exciting area of research which has been tackled with complementary approaches so far. In this paper, we modify the existing continuum Cosserat approach optimizing it for soft robot arms which can be discretized in a finite number of sections…

Cited by 122Source ↗Scholar ↗
2016

Modeling, design & characterization of a novel Passive Variable Stiffness Joint (pVSJ)

Mohammad I. Awad, Dongming Gan, Marco Cempini, Mario Cortese, Nicola Vitiello, Jorge Dias +2
IROS 2016poster

In this paper we present the design and characterization of a novel Passive Variable Stiffness Joint (pVSJ). pVSJ is the proof of concept of a passive revolute joint with controllable variable stiffness. The current design is intended to be a bench-test for future development towards applications in…

Cited by 45Source ↗Scholar ↗
2015

Feasibility study- novel optical soft tactile array sensing for minimally invasive surgery

Junghwan Back, Prokar Dasgupta, Lakmal Seneviratne, Kaspar Althoefer, Hongbin Liu
IROS 2015poster

The absence of touch of sense is a widely known drawback of robotic minimally invasive surgery (MIS). This paper proposes a design of optic soft tactile arrays which is promising to be adapted for MIS. The proposed design consists of multiple soft material channels. Each channel is designed using th…

Cited by 47Source ↗Scholar ↗