Peer Reviewed Conference Papers

  1. Thrishantha Nanayakkara, Katie Byl, Hongbin Liu, Xiaojing Song, and Tim Villabona. “Dominant sources of variability in passive walking.” In IEEE International Conference on Robotics and Automation (ICRA), 2012 , pp.10031010, DOI: 10.1109/ICRA.2012.6224839, 2012. PDF
  2. A. Jiang, G. Xynogalas, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.29222927, DOI: 10.1109/IROS.2012.6385696, Vilamoura, Portugal, 2012. PDF
  3. A. Jiang, J. Bimbo, S. Goulder, H. Liu, X. Song, and T. Nanayakkara, “Adaptive grip control on an uncertain object”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 11611166, DOI: 10.1109/IROS.2012.6385922, Vilamoura, Portugal, 2012. PDF
  4. Bianchi, Fabio, Giulia Bartoli, Kya Shoar, M. R. Armas Fernandez, Valerio Pereno, Jelizaveta Zirjakova, Allen Jiang, and Thrishantha Nanayakkara. “Adaptive internal impedance control for stable walking on uncertain visco-elastic terrains.” In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, pp.24652470, DOI: 10.1109/IROS.2012.6385905, 2012. PDF
  5. Godage, Isuru S., Thrishantha Nanayakkara, and Darwin G. Caldwell. “Locomotion with continuum limbs.” In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, pp.293298, DOI: 10.1109/IROS.2012.6385810, 2012. PDF
  6. A. Jiang, A. Ataollahi, K. Althoefer, P. Dasgupta, and T. Nanayakkara, “A variable stiffness joint by granular jamming,” ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC 2012), pp. 267-275, Chicago, IL, USA, 2012. PDF
  7. Masinghe, Waruna, Gordana Collier, Andrzej Ordys, and Thrishantha Nanayakkara. “A novel approach to determine the inverse kinematics of a human upper limb model with 9 degrees of freedom.” In Biomedical Engineering and Sciences (IECBES), 2012 IEEE EMBS Conference on, pp.525530, DOI: 10.1109/IECBES.2012.6498074, 2012. PDF
  8. H.A. Wurdemann, A. Jiang, T. Nanayakkara, L.D. Seneviratne, K. Althoefer, “Variable Stiffness Controllable and Learnable Manipulator for MIS,” IEEE International Conference on Robotics and Automation (ICRA 2012) Workshop, St Paul, MN, USA, pp.37113714, DOI: 10.1109/EMBC.2014.69444292012. PDF

Selected older publications

  1. Thrishantha Nanayakkara, Kazuo Kiguchi, Tsukasa Murakami, Keigo Watanabe, and Kiyotaka Izumi, “Enhancing the autonomy of tele operated redundant manipulators through fusion of intelligent control modules”, Journal of Robotics and Mechatronics, vol. 14, no. 3, pp. 278 – 288, 2002. PDF
  2. Ariff, Gregory, Opher Donchin, Thrishantha Nanayakkara, and Reza Shadmehr. “A real-time state predictor in motor control: study of saccadic eye movements during unseen reaching movements.” The Journal of Neuroscience 22, no. 17 (2002): 7721-7729. PDF
  3. Thrishantha Nanayakkara and Reza Shadmehr, “Saccade Adaptation in Response to Altered Arm Dynamics“, 
  4. Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, “Evolutionary learning of a fuzzy behavior based controller for a nonholonomic mobile robot in a class of dynamic environments”, pp. 255-277, vol. 32, no. 3, 2001. PDF
  5. Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, “Fuzzy self-adaptive radial basis function neural network-based control of a seven-link redundant industrial manipulator”, pp. 17-43, vol. 15, no. 1, 2001, PDF

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