Shape function-based kinematics and dynamics for variable length continuum robotic arms. - Isuru S. Godage; David T. Branson; Emanuele Guglielmino; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (ICRA, 2011)

Novel modal approach for kinematics of multisection continuum arms. - Isuru S. Godage; Emanuele Guglielmino; David T. Branson; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (IROS, 2011)

Dynamics for biomimetic continuum arms: A modal approach. - Isuru S. Godage; David T. Branson; Emanuele Guglielmino; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (ROBIO, 2011)

Pneumatic muscle actuated continuum arms: Modelling and experimental assessment. - Isuru S. Godage; David T. Branson; Emanuele Guglielmino; Darwin G. Caldwell (ICRA, 2012)

Dynamic continuum arm model for use with underwater robotic manipulators inspired by octopus vulgaris. - Tianjiang Zheng; David T. Branson; Rongjie Kang; Matteo Cianchetti; Emanuele Guglielmino; Maurizio Follador; Gustavo A. Medrano-Cerda; Isuru S. Godage; Darwin G. Caldwell (ICRA, 2012)

Locomotion with continuum limbs. - Isuru S. Godage; D. P. Thrishantha Nanayakkara; Darwin G. Caldwell (IROS, 2012)

Octopus inspired walking robot: Design, control and experimental validation. - Tianjiang Zheng; Isuru S. Godage; David T. Branson; Rongjie Kang; Emanuele Guglielmino; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (ICRA, 2013)

A pragmatic bio-inspired approach to the design of octopus-inspired arms. - Emanuele Guglielmino; Isuru S. Godage; Letizia Zullo; Darwin G. Caldwell (IROS, 2013)

Energy based control of compass gait soft limbed bipeds. - Isuru S. Godage; Yue Wang 011; Ian D. Walker (IROS, 2014)

Design, modeling and performance evaluation of a long and slim continuum robotic cable. - Manas M. Tonapi; Isuru S. Godage; Ian D. Walker (IROS, 2014)

Dual Quaternion based modal kinematics for multisection continuum arms. - Isuru S. Godage; Ian D. Walker (ICRA, 2015)

Spatial kinematic modeling of a long and thin continuum robotic cable. - Manas M. Tonapi; Isuru S. Godage; Amith M. Vijaykumar; Ian D. Walker (ICRA, 2015)

Robotic intracerebral hemorrhage evacuation: An in-scanner approach with concentric tube robots. - Isuru S. Godage; Andria A. Remirez; Raul Wirz; Kyle D. Weaver; Jessica Burgner-Kahrs; Robert J. Webster III (IROS, 2015)

Can coffee improve image guidance? - Raul Wirz; Ray A. Lathrop; Isuru S. Godage; Jessica Burgner-Kahrs; Paul T. Russell III; Robert J. Webster III (Image-Guided Procedures, 2015)

A novel continuum robotic cable aimed at applications in space. - Manas M. Tonapi; Isuru S. Godage; Amith Vijaykumar; Ian D. Walker (Adv. Robotics, 2015)

Dynamics for variable length multisection continuum arms. - Isuru S. Godage; Gustavo A. Medrano-Cerda; David T. Branson; Emanuele Guglielmino; Darwin G. Caldwell (Int. J. Robotics Res., 2016)

A 3-D Volume Coverage Path Planning Algorithm With Application to Intracerebral Hemorrhage Evacuation. - Josephine Granna; Isuru S. Godage; Raul Wirz; Kyle D. Weaver; Robert J. Webster III; Jessica Burgner-Kahrs (IEEE Robotics Autom. Lett., 2016)

Development of a mechanics-based model of brain deformations during intracerebral hemorrhage evacuation. - Saramati Narasimhan; Jared A. Weis; Isuru S. Godage; Robert J. Webster III; Kyle D. Weaver; Michael I. Miga (Image-Guided Procedures, 2017)

Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear. - Loris Fichera; Neal P. Dillon; Dongqing Zhang; Isuru S. Godage; Michael A. Siebold; Bryan I. Hartley; Jack H. Noble; Paul T. Russell III; Robert F. Labadie; Robert J. Webster III (IEEE Robotics Autom. Lett., 2017)

Modelling an Actuated Large Deformation Soft Continuum Robot Surface Undergoing External Forces Using a Lumped-Mass Approacb* Research supported by UK Engineering and Physical Sciences Research Council (EPSRC). - Hossein Habibi; Chenghao Yang; Rongjie Kang; Ian D. Walker; Isuru S. Godage; Xin Dong 011; David T. Branson (IROS, 2018)

Real-time Dynamic Models for Soft Bending Actuators. - Isuru S. Godage; Yue Chen; Kevin C. Galloway; Emily Templeton; Brian Rife; Ian D. Walker (ROBIO, 2018)

Efficient Reduced-Order Models for Soft Actuators. - Yue Chen; Kevin C. Galloway; Isuru S. Godage (CoRR, 2018)

Dynamic Control of Pneumatic Muscle Actuators. - Isuru S. Godage; Yue Chen; Ian D. Walker (CoRR, 2018)

Design and Characterization of a Novel, Continuum-Robot Surface for the Human Environment. - Richa Sirohi; Yixiao Wang 003; Samantha Hollenberg; Isuru S. Godage; Ian D. Walker; Keith E. Green (CASE, 2019)

Modeling Variable Curvature Parallel Continuum Robots Using Euler Curves. - Phanideep S. Gonthina; Apoorva D. Kapadia; Isuru S. Godage; Ian D. Walker (ICRA, 2019)

Near-optimal Smooth Path Planning for Multisection Continuum Arms. - Jiahao Deng; Brandon H. Meng; Iyad Kanj; Isuru S. Godage (RoboSoft, 2019)

Validation of an Extensible Rod Model for Soft continuum Manipulators. - Hunter B. Gilbert; Isuru S. Godage (RoboSoft, 2019)

Information Processing Capability of Soft Continuum Arms. - Estefany A. Torres; Kohei Nakajima; Isuru S. Godage (RoboSoft, 2019)

MR-conditional steerable needle robot for intracerebral hemorrhage removal. - Yue Chen; Isuru S. Godage; Saikat Sengupta; Cindy Lin Liu; Kyle D. Weaver; Eric J. Barth (Int. J. Comput. Assist. Radiol. Surg., 2019)

Modal-based Kinematics and Contact Detection of Soft Robots. - Yue Chen; Long Wang 007; Kevin C. Galloway; Isuru S. Godage; Nabil Simaan; Eric J. Barth (CoRR, 2019)

Forward and Inverse Kinematics of a Single Section Inextensible Continuum Arm. - Ali A. Nazari; Diego Castro 003; Isuru S. Godage (CoRR, 2019)

Swimming locomotion of Soft Robotic Snakes. - Isuru S. Godage (CoRR, 2019)

Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms. - Isuru S. Godage; Robert J. Webster III; Ian D. Walker (IEEE Trans. Robotics, 2019)

On the Problem of Covering a 3-D Terrain. - Eduard Eiben; Isuru S. Godage; Iyad Kanj; Ge Xia (AAAI, 2020)

Swarm Contracts: Smart Contracts in Robotic Swarms with Varying Agent Behavior. - Jonathan Grey; Isuru S. Godage; Oshani Seneviratne (Blockchain, 2020)

Mechanics for Tendon Actuated Multisection Continuum Arms. - Phanideep S. Gonthina; Michael B. Wooten; Isuru S. Godage; Ian D. Walker (ICRA, 2020)

Modeling and Validation of Soft Robotic Snake Locomotion. - Dimuthu D. Arachchige; Yue Chen; Isuru S. Godage (CoRR, 2020)

Blockchain-Based Mechanism for Robotic Cooperation Through Incentives: Prototype Application in Warehouse Automation. - Jonathan Grey; Oshani Seneviratne; Isuru S. Godage (Blockchain, 2021)

Soft Robotic Snake Locomotion: Modeling and Experimental Assessment. - Dimuthu D. K. Arachchige; Yue Chen; Isuru S. Godage (CASE, 2021)

A Novel Variable Stiffness Soft Robotic Gripper. - Dimuthu D. K. Arachchige; Yue Chen; Ian D. Walker; Isuru S. Godage (CASE, 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, 2021)

Smooth Path Planning for Continuum Arms. - Brandon H. Meng; Isuru S. Godage; Iyad Kanj (ICRA, 2021)

Evaluation of Human-Robot Teleoperation Interfaces for Soft Robotic Manipulators. - Arturo Amaya; Dimuthu D. K. Arachchige; Jonathan Grey; Isuru S. Godage (RO-MAN, 2021)

Dynamic Control of Soft Robotic Arm. - Milad Azizkhani; Isuru S. Godage; Yue Chen (CoRR, 2021)

Hybrid Soft Robots Incorporating Soft and Stiff Elements. - Dimuthu D. K. Arachchige; Isuru S. Godage (RoboSoft, 2022)

A Surgical Platform for Intracerebral Hemorrhage Robotic Evacuation (ASPIHRE): A Non-metallic MR-guided Concentric Tube Robot. - Anthony L. Gunderman; Saikat Sengupta; Eleni Siampli; Dimitri Sigounas; Christopher Kellner; Chima O. Oluigbo; Karun Sharma; Isuru S. Godage; Kevin Cleary; Yue Chen (CoRR, 2022)

Dynamic Control of Soft Robotic Arm: A Simulation Study. - Milad Azizkhani; Isuru S. Godage; Yue Chen (IEEE Robotics Autom. Lett., 2022)

RRT*-Based Path Planning for Continuum Arms. - Brandon H. Meng; Isuru S. Godage; Iyad Kanj (IEEE Robotics Autom. Lett., 2022)

Study on Soft Robotic Pinniped Locomotion. - Dimuthu D. K. Arachchige; Tanmay Varshney; Umer Huzaifa; Iyad Kanj; Thrishantha Nanayakkara; Yue Chen; Hunter B. Gilbert; Isuru S. Godage (AIM, 2023)

Wheelless Soft Robotic Snake Locomotion: Study on Sidewinding and Helical Rolling Gaits. - Dimuthu D. K. Arachchige; Dulanjana M. Perera; Sanjaya Mallikarachchi; Iyad Kanj; Yue Chen; Isuru S. Godage (RoboSoft, 2023)

Teleoperation of Soft Modular Robots: Study on Real-time Stability and Gait Control. - Dulanjana M. Perera; Dimuthu D. K. Arachchige; Sanjaya Mallikarachchi; Talal Ghafoor; Iyad Kanj; Yue Chen; Isuru S. Godage (RoboSoft, 2023)

Soft Steps: Exploring Quadrupedal Locomotion With Modular Soft Robots. - Dimuthu D. K. Arachchige; Dulanjana M. Perera; Sanjaya Mallikarachchi; Umer Huzaifa; Iyad Kanj; Isuru S. Godage (IEEE Access, 2023)

Dynamic Modeling and Validation of Soft Robotic Snake Locomotion. - Dimuthu D. K. Arachchige; Dulanjana M. Perera; Sanjaya Mallikarachchi; Iyad Kanj; Yue Chen; Hunter B. Gilbert; Isuru S. Godage (CoRR, 2023)

Dynamic Control of Soft Robotic Arm: An Experimental Study. - Milad Azizkhani; Anthony L. Gunderman; Isuru S. Godage; Yue Chen (IEEE Robotics Autom. Lett., 2023)

Non-Metallic MR-Guided Concentric Tube Robot for Intracerebral Hemorrhage Evacuation. - Anthony L. Gunderman; Saikat Sengupta; Eleni Siampli; Dimitri Sigounas; Christopher Kellner; Chima O. Oluigbo; Karun Sharma; Isuru S. Godage; Kevin Cleary; Yue Chen (IEEE Trans. Biomed. Eng., 2023)

Multimodal Soft Robotic Actuator Modeling and Validation. - Sanjaya Mallikarachchi; Palpolage Don Shehan Hiroshan Gunawardane; Xuan Tung Le; Mu Chiao; Isuru S. Godage (RoboSoft, 2024)

Path Planning for Continuum Arms in Dynamic Environments. - Brandon H. Meng; Dimuthu D. K. Arachchige; Isuru S. Godage; Iyad Kanj (RoboSoft, 2024)

Tumbling Locomotion of Tetrahedral Soft-Limbed Robots. - Dimuthu D. K. Arachchige; Dulanjana M. Perera; Umer Huzaifa; Iyad Kanj; Isuru S. Godage (IEEE Robotics Autom. Lett., 2024)

Hybrid ACO for Blockchain-Managed Robotic Swarms. - Sanjaya Mallikarachchi; Nuralem Abizov; Amanzhol Bektemessov T; Aidos Ibrayev; Sandun S. Vitharana; Isuru S. Godage (UR, 2025)

A Walk to Remember: Mllm Memory-Driven Visual Navigation. - Sandun S. Vitharana; Sanjaya Mallikarachchi; HG Chamika Wijayagrahi; Nuralem Abizov; Amanzhol Bektemessov; Aidos Ibrayev; Isuru S. Godage (UR, 2025)

Body-Induced Soft Robotic Locomotion: a Sim-To-Real Approach. - Zhaosen Wang; Sanjaya Mallikarachchi; Dimuthu D. K. Arachchige; Dulanjana M. Perera; Phanindrateja Thammi; Isuru S. Godage (UR, 2025)

Efficient Trotting of Soft Robotic Quadrupeds. - Dimuthu D. K. Arachchige; Tim Sheehan; Dulanjana M. Perera; Sanjaya Mallikarachchi; Umer Huzaifa; Iyad Kanj; Isuru S. Godage (IEEE Trans Autom. Sci. Eng., 2025)