{"id":39,"date":"2018-06-22T02:03:14","date_gmt":"2018-06-22T02:03:14","guid":{"rendered":"https:\/\/localhost\/rome\/?page_id=39"},"modified":"2024-02-21T17:15:32","modified_gmt":"2024-02-21T22:15:32","slug":"publications","status":"publish","type":"page","link":"https:\/\/rome.cdm.depaul.edu\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"39\" class=\"elementor elementor-39\">\n\t\t\t\t\t\t<div class=\"elementor-inner\">\n\t\t\t\t<div class=\"elementor-section-wrap\">\n\t\t\t\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-68f6 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"68f6\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-54f7\" data-id=\"54f7\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-70f8c25 elementor-widget elementor-widget-text-editor\" data-id=\"70f8c25\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1f64 elementor-widget elementor-widget-text-editor\" data-id=\"1f64\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-text-editor elementor-clearfix\">\n\t\t\t\t<div>\n<div><span style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: bold; white-space-collapse: preserve; letter-spacing: 0.3px;\">2024<\/span><\/div>\n<div>\n<ul style=\"font-variant-ligatures: normal; font-variant-caps: normal; font-family: Arial, sans-serif; font-size: 16px; font-style: normal; font-weight: 400; letter-spacing: 0.3px;\">\n<li style=\"font-size: 16px;\">D. D. Arachchige,&nbsp;<span style=\"font-family: Arial, sans-serif; font-size: 16px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: 0.3px;\">&nbsp;D. M. Perera,<\/span>&nbsp;<span style=\"font-family: Arial, sans-serif; font-size: 16px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: 0.3px;\">U. Huzaifa,&nbsp;<\/span>I. Kanj, and I. S. Godage, \u201cTumbling Locomotion of Tetrahedral Soft-Limbed Robots,\u201d in&nbsp;<em style=\"font-size: 16px;\">IEEE Robotics and Automation Letters (RAL)<\/em>, 2024 [Accepted].<\/li><li>B. H. Meng, D. D. Arachchige, I. Kanj, and I. S. Godage, \u201cPath Planning for Continuum Arms in Dynamic Environments,\u201d in <em>IEEE International Conference on Soft Robotics (RoboSoft)<\/em>, San Diego, USA, 2024 [Accepted].<\/li>\n<\/ul>\n<\/div>\n<\/div>\n<div><span style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: bold; white-space-collapse: preserve; letter-spacing: 0.3px;\">2023<\/span><\/div>\n<div>\n<ul style=\"font-variant-ligatures: normal; font-variant-caps: normal; font-family: Arial, sans-serif; font-size: 16px; font-style: normal; font-weight: 400; letter-spacing: 0.3px;\">\n<li>U. Huzaifa, D. D. Arachchige, M. A. Zaman, and U. Syed, \u201cSimplified Modeling of Hybrid Soft Robots with Constant Stiffness Assumption,\u201d in <em>IEEE International Conference on Robotics and Biomimetics (ROBIO)<\/em>, Samui, Thailand, 2023.<\/li>\n<li style=\"font-size: 16px;\">D. D. Arachchige, D. M. Perera, S. Mallikarachchi, U. Huzaifa, I. Kanj, and I. S. Godage, \u201cSoft Steps: Exploring Quadrupedal Locomotion with Modular Soft Robots,\u201d in <em>IEEE Access<\/em>, vol. 11, pp. 23022\u201323040, 2023.<\/li>\n<li style=\"font-size: 16px;\">\n<div style=\"font-size: 16px;\" tabindex=\"0\">D. D. Arachchige, T. Varshney, U. Huzaifa, I. Kanj, T. Nanayakkara, Y. Chen, H. B. Gilbert, and I. S. Godage, \u201cStudy on Soft Robotic Pinniped Locomotion,\u201d in <em>IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM)<\/em>, Seattle, USA, 2023, pp. 65\u201371.<\/div>\n<\/li>\n<li style=\"font-size: 16px;\">\n<div style=\"font-size: 16px;\" tabindex=\"0\">D. D. Arachchige, D. M. Perera, S. Mallikarachchi, I. Kanj, Y. Chen, H. B. Gilbert, and I. S. Godage, \u201cDynamic Modeling and Validation of Soft Robotic Snake Locomotion,\u201d in <em>IEEE International Conference on Control, Automation and Robotics (ICCAR<\/em>), Beijing, China, 2023, pp. 06\u201312<\/div>\n<\/li>\n<li style=\"font-size: 16px;\">\n<div style=\"font-size: 16px;\" tabindex=\"0\">\n<div style=\"font-size: 16px;\" tabindex=\"0\"><span style=\"letter-spacing: 0.3px;\">D. M. Perera, D. D. Arachchige, S.Mallikarachchi, I. Kanj, Y. Chen, and I. S. Godage, \u201cTeleoperation of Soft Modular Robots: Study on Realtime Stability and Gait Control,\u201d in <em>IEEE International Conference on Soft Robotics (RoboSoft)<\/em>, Singapore, 2023, pp. 01\u201306.<\/span><\/div>\n<\/div>\n<\/li>\n<li style=\"font-size: 16px;\">\n<div style=\"font-size: 16px;\" tabindex=\"0\">D. D. Arachchige, D. M. Perera, S.Mallikarachchi, I. Kanj, Y. Chen, and I. S. Godage, \u201cWheelless Soft Robotic Snake Locomotion: Study on Sidewinding and Helical Rolling Gaits,\u201d in <em>IEEE International Conference on Soft Robotics (RoboSoft)<\/em>, Singapore, 2023, pp. 01\u201306.<\/div>\n<\/li>\n<\/ul>\n<div style=\"font-size: 16px;\" tabindex=\"0\"><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\"><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\">2022<\/b><\/b><\/div>\n<\/div>\n<ul>\n<li>S. Mallikarachchi, C. Dai, O. Seneviratne, and I. Godage, &#8220;Managing Collaborative Tasks within Heterogeneous Robotic Swarms using Swarm Contracts,&#8221; in IEEE International Conference on Decentralized Applications and Infrastructures (DAPPS), 2022.<\/li>\n<li>\n<div tabindex=\"0\">A. L. Gunderman, S. Sengupta, E. Siampli, D. Sigounas, C. Kellner, C. Oluigbo, K. Sharma, I. Godage, K. Cleary, and Y. Chen. &#8220;A Surgical Platform for Intracerebral Hemorrhage Robotic Evacuation (ASPIHRE): A Non-metallic MR-guided Concentric Tube Robot.&#8221; <i>arXiv preprint arXiv:2206.09848<\/i> (2022).<\/div>\n<\/li>\n<li>\n<div tabindex=\"0\">B. H. Meng, I. S. Godage, and I. Kanj. &#8220;RRT*-Based Path Planning for Continuum Arms.&#8221; <i>IEEE Robotics and Automation Letters<\/i> 7, no. 3 (2022): 6830-6837.<\/div>\n<\/li>\n<li>\n<div tabindex=\"0\">\n<div tabindex=\"0\">M. J. Musa, A. B. Carpenter, C. Kellner, D. Sigounas, I. S. Godage, S. Sengupta, C. Oluigbo, K. Cleary, and Y. Chen. &#8220;Minimally Invasive Intracerebral Hemorrhage Evacuation: A review.&#8221; <i>Annals of biomedical engineering<\/i> (2022): 1-22.<\/div>\n<\/div>\n<\/li>\n<li>\n<div tabindex=\"0\">M. Azizkhani, I.&nbsp;S. Godage, and Y. Chen, &#8220;Dynamic control of soft robotic arm: A simulation study.&#8221; <i>IEEE Robotics and Automation Letters<\/i> 7, no. 2 (2022): 3584-3591.<\/div>\n<\/li>\n<li>\n<div tabindex=\"0\">D.D. Arachchige, and I.S. Godage, &#8220;Hybrid Soft Robots Incorporating Soft and Stiff Elements.&#8221; In <i>IEEE International Conference on Soft Robotics (RoboSoft)<\/i>, pp. 267-272. IEEE, 2022.<\/div>\n<\/li>\n<\/ul>\n<div><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\"><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\">2021<\/b><\/b><\/div>\n<ul>\n<li>J. Grey, O. Seneviratne, I. Godage, &#8220;Blockchain-Based Mechanism for Robotic Cooperation Through Incentives: Prototype Application in Warehouse Automation,&#8221; in IEEE International Conference on Blockchain (Blockchain), 2021, pp. 597-604.<\/li>\n<li>A. Amaya, D. D. Arachchige, J. Grey, and I. S. Godage, &#8220;<a href=\"https:\/\/scholar.google.com\/citations?view_op=view_citation&amp;hl=en&amp;user=L5Ae_ygAAAAJ&amp;sortby=pubdate&amp;citation_for_view=L5Ae_ygAAAAJ:5bg8sr1QxYwC\">Evaluation of Human-Robot Teleoperation Interfaces for Soft Robotic Manipulators<\/a>, &#8221; in IEEE International Conference on Robot &amp; Human Interactive Communication (RO-MAN), 2021, pp. 412-417.<\/li>\n<li>D. D. Arachchige, Y. Chen, and I. S. Godage, \u201cSoft Robotic Snake Locomotion: Modeling and Experimental Assessment,\u201d in IEEE International Conference on Automation Science and Engineering (CASE), 2021, pp. 805-810.<\/li>\n<li>D. D. Arachchige, Y. Chen, I. D. Walker, and I. S. Godage, \u201cA Novel Variable Stiffness Soft Robotic Gripper,\u201d in IEEE International Conference on Automation Science and Engineering (CASE), 2021, pp. 2222-2227.<\/li>\n<li>B. Meng, D. D. Arachchige, J. Deng, I. Kanj, and I. S. Godage, \u201cAnticipatory Path Planning for Continuum Arms in Dynamic Environments,\u201d in IEEE International Conference on Robotics and Automation, 2021, pp. 7815-7820.<\/li>\n<li>B. Meng, I. Kanj, and I. S. Godage, \u201cSmooth Path Planning for Continuum Arms,\u201d in IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 7809-7814.<\/li>\n<\/ul>\n<div><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\"><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\">2020<\/b><\/b><\/div>\n<ul>\n<li>Jonathan Greay, Oshani Seneviratne, and <strong>Isuru Godage<\/strong>, \u201cSwarm Contracts: Smart Contracts in Robotic Swarms with Varying Agent Behavior,\u201d in IEEE International Conference on Blockchain, 2020, pp. 265-272.<\/li>\n<li>Y. Chen, L. Wang, <strong>Isuru S. Godage<\/strong>, K. Galloway, N. Simaan, and E. Barth, \u201cModal-based Kinematics and Contact Detection of Soft Robots,\u201d in Soft Robotics, 2020, pp. 298-309.<\/li>\n<li>P. Gonthina, M. B. Wooten,<strong> Isuru S. Godage<\/strong>, and I. D. Walker, &#8220;Mechanics for Tendon Actuated Multisection Continuum Arms,&#8221; in IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 3896-3902.<b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\"><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\"><br><\/b><\/b><\/li>\n<\/ul>\n<div><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\"><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\"><\/b>2019<\/b><\/div>\n<ul>\n<li>E. Eiben, I. Kanj, <strong>Isuru S. Godage<\/strong>, and G. Xia, &#8221; On the Problem of Covering a 3-D Terrain&#8221;, in International Conference on Association for the Advancement of Artificial Intelligence (AAAI), 2020 (accepted).<\/li>\n<li>Hossein Habibi , Chenghao Yang ,<strong> Isuru S. Godage<\/strong>, Rongjie Kang, Ian D. Walker , and David T. Branson, &#8220;A lumped-mass model for large deformation continuum surfaces actuated by continuum robotic arms,&#8221; in the ASME Journal of Mechanisms and Robotics, 2019 (in press).<\/li>\n<li><strong>Isuru S. Godage<\/strong>, Robert J. Webster III, and Ian D. Walker, &#8220;Center of Gravity-based Approach for Modeling Dynamics of Multisection Continuum Arms,&#8221; in IEEE Transactions on Robotics, 2019 (accepted).<\/li>\n<li>Richa Sirohi, Yixiao Wang, Samantha Hollenberg, <strong>Isuru S. Godage<\/strong>, Ian D. Walker,and Keith E. Green, &#8220;Design and Characterization of a Novel, Continuum-Robot Surface for the Human Environment,&#8221; in IEEE International Conference on Automation Science and Engineering (CASE), 2019, (accepted).<\/li>\n<li>Yue Chen, Joseph Howard,<strong>Isuru S. Godage,<\/strong>&nbsp;Saikat Sengupta, &#8220;Closed Loop Control of an MR-conditional Robot with Wireless Tracking Coil Feedback,&#8221;, in Annals of Biomedical Engineering, 2019, (accepted).<\/li>\n<li>Kevin C. Galloway, Yue Chen, Emily Templeton, Brian Rife,<strong> Isuru S. Godage<\/strong>, and Eric J. Barth, &#8220;Fiber Optic Shape Sensing with a Soft Actuator for State Estimation and Planar Environmental Mapping&#8221;, in Soft Robotics, 2019, (accepted).<\/li>\n<li>Ali A. Nazari, Diego Castro, and <strong>Isuru S. Godage<\/strong>, &#8220;Forward and Inverse Kinematics of a Single Section Inextensible Continuum Arm&#8221;, in DePaul SCD Symposium, 2019 (accepted).<\/li>\n<li>Phanideep S. Gonthina, Apoorva D. Kapadia, <strong>Isuru S. Godage<\/strong>, and Ian. D. Walker, &#8220;Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves&#8221;, in IEEE International Conference on Robotics and Automation (ICRA), 2019 (accepted).<\/li>\n<li>Jiahao Deng, Brandon H Meng, Iyad Kanj, and <strong>Isuru S Godage<\/strong>, &#8220;Near-optimal Smooth Path Planning for Multisection Continuum Arms&#8221;,&nbsp;in&nbsp;IEEE Conference on Soft Robotics (RoboSoft), 2019 (accepted).&nbsp;<\/li>\n<li>Estefany A Torres, Kohei Nakajima, and I<strong>suru S Godage<\/strong>, &#8220;Information Processing Capability of Soft Continuum Arms&#8221;, in&nbsp;IEEE Conference on Soft Robotics (RoboSoft), 2019 (accepted).&nbsp;<\/li>\n<li>Hunter B. Gilbert&nbsp;and <strong>Isuru S. Godage<\/strong>, &#8220;Validation of an Extensible Rod Model for Soft Continuum&nbsp;Manipulators&#8221;, in IEEE Conference on Soft Robotics (RoboSoft), 2019 (accepted).&nbsp;<\/li>\n<li>Habibi, Hossein, Rongjie Kang, Ian D. Walker, <strong>Isuru S. Godage<\/strong>, and David T. Branson. &#8220;Developing a 3-D, Lumped-Mass Model to Present Behaviour of Large Deformation Surface Based Continuum Robots&#8221; in&nbsp;<i>IUTAM Symposium on Intelligent Multibody Systems\u2013Dynamics, Control, Simulation<\/i>, pp. 133-147. Springer, Cham, 2019.<\/li>\n<\/ul>\n<div><b style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; white-space: pre-wrap;\">2018<\/b><\/div>\n<ul>\n<li>Isuru S. Godage, Yue Chen, Kevin C. Galloway, Emily Templeton, Brian Rife, and Ian D. Walker, <em>&#8220;Real-time Dynamic Models for Soft Bending&nbsp;Actuators&#8221;<\/em>, in IEEE International Conference on Robotics and Biomimetics, 2019 (accepted).<\/li>\n<li style=\"font-size: 16px;\"><span style=\"font-family: Arial, sans-serif; font-size: 16px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: 0.3px;\">Yue Chen, Isuru Godage, Hao Su, Hong Yu, Gregory Fischer, <em>\u201cStereotactic Systems for MR-guided Neurosurgeries: A State-of-the-art Review\u201d<\/em>, in Annals of Biomedical Engineering, 2019 (in press).<\/span><\/li>\n<li style=\"font-size: 16px;\"><span style=\"font-family: Arial, sans-serif; font-size: 16px; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; letter-spacing: 0.3px;\">Y. Chen, K. C. Galloway,&nbsp;<\/span>I. S. Godage, <i>\u201c<\/i><em>Efficient Reduced-Order Models for Soft Actuators&#8221;<\/em>, Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots workshop, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 (accepted).<\/li>\n<li>I. S. Godage, Y. Chen, I. D. Walker, \u201c<em>Dynamic Control of Pneumatic Muscle Actuators<\/em>\u201d, Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots workshop, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 (accepted).<\/li>\n<li>Y. Chen, I. S. Godage, S. Sengupta, \u201c<em>MR-conditional Concentric Tube Robot for Intracerebral Hemorrhage Removal<\/em>\u201d, Assistive Technologies for Precision Neurosurgery: Current Successes and Future Challenges workshop in IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 (accepted).<\/li>\n<li>Y. Chen, I. S. Godage, S. Sengupta, C. L. Liu, K. D. Weaver, E. J. Barth, \u201c<em>MR-conditional Concentric Tube Robot for Intracerebral Hemorrhage Removal<\/em>\u201d, in International Journal of Computer Assisted Radiology and Surgery, 2018 (in print).<\/li>\n<li><span style=\"font-size: 14px;\">&nbsp;<\/span><span style=\"background-color: transparent; color: #000000; font-family: Arial; font-size: 12pt; font-style: normal; font-variant-ligatures: normal; font-variant-caps: normal; font-weight: 400; white-space: pre-wrap;\">H. Habibi, C. Yang, R. Kang, I. D. Walker, Isuru S. Godage &amp; D. T. Branson III, &#8220;Modeling an actuated large deformation soft continuum robot surface undergoing external forces using a lumped-mass approach&#8221;, in IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, (accepted).<\/span><\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2017<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Y. Chen, Isuru S. Godage, Z. T. H Tse, R. J. Webster III, and E. J. Barth. \u201cCharacterization and Control of a Pneumatic Motor for MR-conditional Robotic Applications\u201d IEEE\/ASME Transactions on Mechatronics (TMECH), PP(99), 2017, pp. 1-10.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Y. Chen, M. E. Poorman, D. B. Comber, E. B. Pitt, C. Liu, Isuru S. Godage, H. Yu, W. A. Grissom, E. J. Barth, and R. J. Webster III, \u201cTreating Epilepsy via Thermal Ablation: Initial Experiments with an MRI-Guided Concentric Tube Robot\u201d, in Design of Medical Devices (DMD) Conference, 2017, pp. V001T02A002.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Y. Chen, Isuru S. Godage, S. Sengupta, C. Liu, K. D. Weaver, E. J. Barth, R. J. Webster III, \u201cAn MRI-compatible Robot Steerable Needle for Intracerebral Hemorrhage Removal\u201d, in Journal of Medical Devices (JMD), 2017, V001T08A019. Won 3rd place in the three in five competition.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">L. Fichera, N. P. Dillon, D. Zhang, Isuru. S. Godage, M. A. Siebold, B. Hartley, J. Noble, P. T. Russell, R. F. Labadie, R. J. Webster III, \u201cThrough the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See into the Middle Ear\u201d, in IEEE Robotics and Automation Letters (RAL), 2(3), 2017, pp. 1488-1494.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Saramati Narasimhan, Jared A. Weis, Isuru S. Godage, Robert J. Webster III, Kyle D. Weaver, Michael I. Miga, \u201cDevelopment of a Mechanics-Based Model of Brain Deformations during Intracerebral Hemorrhage Evacuation\u201d, in SPIE International Conference on Medical Imaging, 2017, pp. 101350F-101305F.<\/span><\/p>\n<\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2016.<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Patrick Hall, Isuru S. Godage, \u201cDevelopment of the COBRA Module used to Explore Locomotion in Modular Robots\u201d, in IEEE International Conference on Automation Science and Engineering (CASE), 2016.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Jessie L. C. Santiago, Isuru S. Godage, Phanideep Gonthina, Ian D. Walker, \u201cSoft Robots and Kangaroo Tails: Modulating Compliance in Continuum Structures via Mechanical Layer Jamming\u201d, in Soft Robotics (SoRo), 3(2), 2016.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Rongjie Kang, Emanuele Guglielmino, Letizia Zullo, David T. Branson III, Isuru S. Godage, and Darwin G. Caldwell, \u201cEmbodiment Design of Soft Continuum Robots\u201d, in Advances in Mechanical Engineering (AIM), 8(4), 2016, pp. 1687814016643302.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Josephine Granna, Isuru S. Godage, Raul Wirz Gonzalez, Kyle D. Weaver, Robert James Webster III, Jessica Burgner-Kahrs, \u201cA 3D Volume Coverage Path Planning Algorithm with Application to Intracerebral Hemorrhage Evacuation\u201d, in IEEE Robotics and Automation Letters (RAL), 1(2), 2016, pp. 876-883.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Yifan Zhu, Phil J. Swaney, Isuru S. Godage, Ray A. Lathrop, and Robert J. Webster III, \u201cA Disposable Robot for Intracerebral Hemorrhage Removal\u201d, in Journal of Medical Devices(JMD) 10(2) 2016, pp. 020952.<\/span><\/p>\n<\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2015<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Raul &nbsp;Wirz, Isuru S. Godage, Ray A. Lathrop, M. Clavenna, Robert J. Webster III, Paul T. Russell, \u201cImproving Reliability in Stereotactic Imaging for Endonasal Surgery with use of Granular Jamming\u201d, in American Rhinologic Society Spring Meeting, 2015 [poster].<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage, Andria A. Remirez, Kyle D. Weaver, Michael Miga, and Robert J. Webster III, \u201cFirst ever in-scanner results for robotic ICH removal\u201d, in the 4th &nbsp;Vise Symposium, Vanderbilt University, 2015 [poster].<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage, Raul Wirz, Ian D. Walker, and Robert J. Webster III, \u201cEfficient spatial dynamics for continuum arms\u201d, in ASME Dynamic Systems and Control Conference (DSCC), 2015, pp. 1-8.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage, Andria Ramirez, Raul Wirz, Kyle Weaver, Jessica Burgner-Kahrs, and Robert J. Webster III, \u201cRobotic Intracerebral Hemorrhage Evacuation: An In-Scanner Approach with Concentric Tube Robots\u201d, in IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, 1447-1452.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage, Gustavo A. Medrano-Cerda, David T. Branson, Emanuele Guglielmino, and Darwin G. Caldwell, \u201cDynamics for Variable Length Multisection Continuum Arms\u201d, in International Journal of Robotics Research (IJRR), 2015, pp. 1-28.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage, Raul Wirz, Ian D. Walker, and Robert J. Webster, \u201cAccurate and Efficient Dynamics for Variable Length Continuum Arms: A Center of Gravity Approach\u201d, Soft Robotics (SoRo), 2015, pp. 96-106.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Manas M. Tonapi, Isuru S. Godage, and Ian D. Walker, \u201cA Novel Continuum Robotic Cable Aimed at Applications in Space\u201d, in Continuum Manipulators Special Issue of Advanced Robotics (AR), 2015, pp. 861-875.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Jessie Santhiago, Ian D. Walker, and Isuru S. Godage, \u201cContinuum robots for space applications based on layer-jamming scales with stiffening capability\u201d, in &nbsp;IEEE Aerospace Conference (IAC), 2015, pp. 1-13.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage and Ian D. Walker, \u201cDual Quaternion Based Modal Kinematics for Multisection Continuum Arms\u201d, in &nbsp;IEEE International Conference on Robotics and Automation (ICRA) 2015, pp. 1416-1422.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Manas M. Tonapi, Isuru S. Godage, and Ian D. Walker, \u201cSpatial Kinematic Modeling of a Long and Thin Continuum Robotic Cable\u201d, in &nbsp;IEEE International Conference on Robotics and Automation (ICRA) 2015, pp. 3755-3761.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Raul Wirz, Ray A. Lathrop, Isuru S. Godage, Jessica Burgner-Kahrs, Paul T. Russell, III, and Robert J. Webster, III, \u201cCan Coffee Improve Image Guidance?\u201d, in SPIE Medical Imaging, 2015,pp. 941513-1-12.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage, Gustavo A. Medrano-Cerda, David T. Branson, Emanuele Guglielmino, Darwin G. Caldwell, \u201cModal kinematics for multisection continuum arms\u201d, in the Journal of Bioinspiration &amp; Biomimetics (B&amp;B), 2015,pp. 10 (2015) 03500201-20.<\/span><\/p>\n<\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2014<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage, Yue Wang, and Ian. D. Walker, \u201cEnergy Based Control of Compass Gait Soft Limbed Bipeds\u201d, in IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, pp. 4057-4064.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Manas M. Tonapi, Isuru. S. Godage, and Ian D. Walker, \u201cDesign, Modeling and Performance Evaluation of a Long and Slim Continuum Robotic Cable\u201d, in IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014, pp. 2852-2859.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Manas Tanapi, Isuru S. Godage, Ian D. Walker (2014). Next Generation Rope-like Robot for In-Space Inspection, 2014, pp. 1-13. In IEEE Aerospace Conference (IAC).<\/span><\/p>\n<\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2013<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Emanuele Guglielmino, Isuru S. Godage, Letizia Zullo, Darwin G. Caldwell (2013). A Pragmatic Bio-inspired Approach to the Design of Octopus-inspired Arms, 4577-4582. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Tianjiang Zheng, Isuru S Godage, David T Branson et al. (2013) Octopus inspired walking robot: Design, control and experimental validation, 816-821. In IEEE International Conference on Robotics and Automation (ICRA).<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S. Godage (2013). Modelling and Experimentation of Continuum Arms for Manipulation and Locomotion, PhD Thesis.<\/span><\/p>\n<\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2012<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Tianjiang Zheng, David T Branson, Isuru S Godage et al. Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments, 021004-1-11. in IEEE\/ASME Journal of Mechanisms and Robotics (JMR).<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S Godage, Thrishantha Nanayakkara, Darwin G Caldwell (2012) Locomotion with Continuum Limbs, 293-298. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S Godage, David T Branson, Emanuele Guglielmino et al. (2012) Path Planning for Multisection Continuum Arms, 1208-1213. In IEEE International Conference on Mechatronics and Automation (ICMA).<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Tianjiang Zheng, David T Branson Iii, Rongjie Kang et al. (2012) Dynamic Continuum arm Model for Use with Underwater Robotic Manipulators Inspired by, 5289-5294. In IEEE International Conference on Robotics and Automation (ICRA).<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S Godage, David T Branson, Emanuele Guglielmino et al. (2012) Pneumatic Muscle Actuated Continuum Arms : Modeling and Experimental Assessment, 4980-4985. In IEEE International Conference on Robotics and Automation (ICRA).<\/span><\/p>\n<\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2011<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S Godage, David T. Branson, Emanuele Guglielmino et al. (2011) Dynamics for Biomimetic Continuum Arms: A Modal Approach, 104-109. In IEEE International Conference on Robotics and Biomimetics (ROBIO).<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S Godage, Emanuele Guglielmino, David T Branson et al. (2011) Novel Modal Approach for Kinematics of Multisection Continuum Arms, 1093-1098. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">Isuru S Godage, David T Branson, Emanuele Guglielmino et al. (2011) Shape Function-Based Kinematics and Dynamics for Variable Length Continuum Robotic Arms, 452-457. In IEEE International Conference on Robotics and Automation (ICRA).<\/span><\/p>\n<\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2009<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 0pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">S. Nomura, J. T. K. Soon, H. A. Samani, Isuru S. Godage, M. R. Narangoda, A. D. Cheok, and O. Katai, Feasibility of Social Interfaces based on Tactile Senses for Caring Communication, in The 8th International Workshop on Social Intelligence Design (IDC), Vol. 68, No. 3, 2009.<\/span><\/p>\n<\/li>\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 0pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">A. D. Cheok,Isuru S. Godage, H. A. Samani, \u201cIntimate Physical Interaction with Robots , Human \u2013 Robot Kiss\u201d, in International conference on Human-robot personal relationship (HRPR), 2009.<\/span><\/p>\n<\/li>\n<\/ul>\n<h4 dir=\"ltr\" style=\"line-height: 1.68; margin-top: 0pt; margin-bottom: 15pt;\"><span style=\"font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: bold; font-style: normal; font-variant: normal; text-decoration: none; vertical-align: baseline; white-space: pre-wrap;\">2008<\/span><\/h4>\n<ul style=\"margin-top: 0pt; margin-bottom: 0pt;\">\n<li dir=\"ltr\" style=\"list-style-type: disc; font-size: 12pt; font-family: Arial; color: #000000; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; white-space: pre; margin-left: 15pt;\">\n<p dir=\"ltr\" style=\"line-height: 1.38; margin-top: 11pt; margin-bottom: 11pt;\"><span style=\"font-size: 12pt; font-family: Arial; background-color: transparent; font-weight: 400; font-style: normal; font-variant: normal; white-space: pre-wrap;\">H. A. Samani, A. D. Cheok, Isuru S. Godage, \u201cLOVOTICS : Adding Love to Human-Robot Relationships\u201d, in International Conference on Advances in Computer Entertainment Technology (ACE), 2008.<\/span><\/p>\n<\/li>\n<\/ul>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>2024 D. D. Arachchige,&nbsp;&nbsp;D. M. Perera,&nbsp;U. Huzaifa,&nbsp;I. Kanj, and I. S. Godage, \u201cTumbling Locomotion of Tetrahedral Soft-Limbed Robots,\u201d in&nbsp;IEEE Robotics and Automation Letters (RAL), 2024 [Accepted]. B. H. Meng, D. D. Arachchige, I. Kanj, and I. S. Godage, \u201cPath Planning for Continuum Arms in Dynamic Environments,\u201d in IEEE International Conference on Soft Robotics (RoboSoft), San [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_mi_skip_tracking":false,"footnotes":""},"class_list":["post-39","page","type-page","status-publish","hentry","entry"],"_links":{"self":[{"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/pages\/39","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/comments?post=39"}],"version-history":[{"count":85,"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/pages\/39\/revisions"}],"predecessor-version":[{"id":1241,"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/pages\/39\/revisions\/1241"}],"wp:attachment":[{"href":"https:\/\/rome.cdm.depaul.edu\/wp-json\/wp\/v2\/media?parent=39"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}