Journal papers

  1. Taylor, John G., Vassilis Cutsuridis, Matthew Hartley, Kaspar Althoefer, and Thrishantha Nanayakkara. “Observational Learning: Basis, Experimental Results and Models, and Implications for Robotics.” Cognitive Computation, pp. 340 – 354, vol. 5, no. 3, 2013. PDF
  2. Wijesundera, Isuri, Malka N. Halgamuge, Thas Nirmalathas, and Thrishantha Nanayakkara. “A Geographic Primitive-Based Bayesian Framework to Predict Cyclone-Induced Flooding.” Journal of Hydrometeorology,  2013. PDF
  3. Lalitharatne, Thilina Dulantha, Kenbu Teramoto, Yoshiaki Hayashi, Thrishantha Nanayakkara, and Kazuo Kiguchi. “Evaluation of Fuzzy-Neuro Modifiers for Compensation of the Effects of Muscle Fatigue on EMG-Based Control to be Used in Upper-Limb Power-Assist Exoskeletons.” Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2013. PDF

Conference Papers

  1. Anuradha Ranasinghe, Prokar Dasgupta, Jaques Penders, Kaspar Althoefer, Thrishantha Nanayakkara, “A Two Party Haptic Guidance Controller Via a Hard Rein”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2013, Tokyo,  Japan,  pp.116 – 122, DOI: 10.1109/IROS.2013.6696341,  2013. PDF
  2. J. Konstantinova, M. Li, V. Aminzadeh, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Force-Velocity Modulation Strategies for Soft Tissue Examination”, in 2013 IEEE International conference on intelligent Robots and systems (IROS), pp.1998 – 2003, DOI: 10.1109/IROS.2013.6696622, 2013. PDF
  3. Malekzadeh, Milad S., Danilo Bruno, Sylvain Calinon, Thrishantha Nanayakkara, and Darwin G. Caldwell. “Skills transfer across dissimilar robots by learning context-dependent rewards.” In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp.1746 – 1751, DOI: 10.1109/IROS.2013.6696585, 2013. PDF
  4. Pereno, Valerio, Kya Shoar, Giulia Bartoli, Fabio Bianchi, and Thrishantha Nanayakkara. “Stable walking on variable visco-elastic terrains using meta-parameters for passive state migration.” In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, pp.3126 – 3131, DOI: 10.1109/IROS.2013.6696800, IEEE, 2013. PDF
  5. Miguel González-Fierro, Carlos Balaguer, Nicola Swann, Thrishantha Nanayakkara, “A Humanoid Robot Standing Up Through Learning from Demonstration Using a Multimodal Reward Function”, IEEE-RAS International Conference on Humanoid Robots, pp. 74 – 79, DOI: 10.1109/HUMANOIDS.2013.7029958, 2013. PDF
  6. Anuradha Ranasinghe, Prokar Dasgupta, Jaques Penders, Kaspar Althoefer, Thrishantha Nanayakkara, “An Optimal State Dependent Haptic Guidance Controller Via a Hard Rein”, in 2013 IEEE International Conference on system, man, cybernetics (SMC), Manchaster, UK,  pp. 2322 – 2327, DOI: 10.1109/SMC.2013.397,  (Finalist for the best student paper and IEEE Franklyn V. Taylor memorial award) 2013. PDF
  7. J. Konstantinova, M. Li, V. Aminzadeh, K. Althoefer, P. Dasgupta, and T. Nanayakkara, “Evaluating Manual Palpation Trajectory Patterns in Tele-Manipulation for Soft Tissue Examination” in IEEE Systems Men and Cybernetics (SMC), pp.4190 – 4195, DOI: 10.1109/SMC.2013.714, 2013. PDF
  8. Asuka Takai,  Nouf Alanizi, Kazuo Kiguchi, and Thrishantha Nanayakkara. “Prototyping the flexible solenoid-coil artificial muscle, for exoskeletal robots.” In Control, Automation and Systems (ICCAS), 2013 13th International Conference on, pp.1046 – 1051, DOI: 10.1109/ICCAS.2013.6704071, 2013. PDF
  9. 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.1003 – 1010, DOI: 10.1109/ICRA.2012.6224839, 2012. PDF
  10. 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.2922 – 2927, DOI: 10.1109/IROS.2012.6385696, Vilamoura, Portugal, 2012. PDF
  11. 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. 1161 – 1166, DOI: 10.1109/IROS.2012.6385922, Vilamoura, Portugal, 2012. PDF
  12. 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.2465 – 2470, DOI: 10.1109/IROS.2012.6385905, 2012. PDF
  13. 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.293 – 298, DOI: 10.1109/IROS.2012.6385810, 2012. PDF
  14. 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
  15. 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.525 – 530, DOI: 10.1109/IECBES.2012.6498074, 2012. PDF
  16. 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.3711 – 3714, DOI: 10.1109/EMBC.2014.6944429, 2012. PDF
  17. 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
  18. 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
  19. Thrishantha Nanayakkara and Reza Shadmehr, “Saccade Adaptation in Response to Altered Arm Dynamics“, Journal of Neurophysiology, vol. 90, no. 6, pp. 4016-4021. PDF
  20. 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
  21. 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

See Google Scholar for a full list of publications.

Contact the PI

Professor Thrishantha Nanayakkara
RCS1 M229, Dyson Building
25 Exhibition Road
South Kensington, SW7 2DB

Email: t.nanayakkara@imperial.ac.uk