Publications

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Peer reviewed articles

Lasitha Weerakoon, Gurtajbir Singh Herr, Jasmine Blunt, Miao Yu, and Nikhil Chopra. "Cartographer_glass: 2D graph SLAM framework using LiDAR for glass environments." arXiv preprint arXiv:2212.08633 (2022).
Lasitha Weerakoon, and Nikhil Chopra. "Passivity-Based Task Space Control of Hybrid Rigid-Soft (HyRiSo) Robots with Parametric Uncertainty." In 2022 IEEE 61st Conference on Decision and Control (CDC), pp. 771-776. IEEE, 2022.
Gurtajbir Singh Herr, Lasitha Weerakoon, Miao Yu, and Nikhil Chopra. "CARDYNET: Deep Learning Based Navigation for Car-Like Robots in Dynamic Environments." In ASME International Mechanical Engineering Congress and Exposition, vol. 86670, p. V005T07A074. American Society of Mechanical Engineers, 2022.
Lasitha Weerakoon, Zepeng Ye, Rahul Subramonian Bama, Elisabeth Smela, Miao Yu, and Nikhil Chopra. "Adaptive tracking control of soft robots using integrated sensing skins and recurrent neural networks." In 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 12170-12176. IEEE, 2021.
Lasitha Weerakoon, and Nikhil Chopra. "Swing up control of a soft inverted pendulum with revolute base." In 2021 60th IEEE Conference on Decision and Control (CDC), pp. 685-690. IEEE, 2021.
Lasitha Weerakoon, and Nikhil Chopra. "Bilateral teleoperation of soft robots under piecewise constant curvature hypothesis: An experimental investigation." In 2020 American Control Conference (ACC), pp. 2124-2129. IEEE, 2020.
W.M.L.T. Weerakoon T. W. U. Madhushani, D. H. S. Maithripala, and Jordan M. Berg. "Feedback Regularization and Geometric PID Control for Robust Stabilization of a Planar Three-link Hybrid Bipedal Walking Model." In 2018 Annual American Control Conference (ACC), pp. 6061-6066. IEEE, 2018.
W.M.L.T. Weerakoon, D. H. S. Maithripala, and Jordan M. Berg. "Feedback regularization based pd controller for a planar three-link biped robot." (Best paper 3rd), In 2017 IEEE International Conference on Industrial and Information Systems (ICIIS), pp. 1-6. IEEE, 2017.

Invited talks, seminars and symposiums

Gurtajbir Singh Herr, Lasitha Weerakoon and Nikhil Chopra, “Accurate registration of transparent objects in 2D LiDAR SLAM”, Poster at European Robotics Forum, Rimini, Italy, March 2023.
Tianchen Liu, Lasitha Weerakoon and Nikhil Chopra, “Inverse Kinematics for Robotic Manipulators using Iterative Preconditioned Optimization Algorithms”, Poster at European Robotics Forum, Rimini, Italy, March 2023.
Lasitha Weerakoon and Nikhil Chopra, “Dynamic Control of Soft Robotic Systems”, Seminar at D2C2S2 series, Dept. of Mechanical Engineering, Univ. of Maryland, November 2023.
Lasitha Weerakoon, “Soft Robotics to Tackle Engineering Problems”, Invited Seminar at Mech-In-Talks seminar series, Univ. of Peradeniya, Sri Lanka, July 2023.
Lasitha Weerakoon and Nikhil Chopra, “Swing up Control of a Soft Inverted Pendulum with Revolute Base”, Invited talk at Modelling, Estimation and Control Conference (MECC 2022), Jersey City, New Jersey, USA, October 2022. (2022 ASME DSCD Rising star award)
Lasitha Weerakoon and Nikhil Chopra, “HyRiSo: A Hybrid Rigid-Soft Robot for Task Space Manipulation”, Poster at Maryland Robotics Center Research Symposium, Univ. of Maryland, May 2022.
Lasitha Weerakoon and Nikhil Chopra, “Task Space Adaptive Control of Soft Robots”, Poster at Maryland Robotics Center Research Symposium, Univ. of Maryland, May 2021.
Lasitha Weerakoon, Gurtajbir Singh Herr, Jasmine Blunt, Miao Yu and Nikhil Chopra, “Cartographer_glass: 2D Graph SLAM Framework using LiDAR for Glass Environments”, Poster at Maryland Robotics Center Research Symposium, Univ. of Maryland, May 2021
Lasitha Weerakoon and Nikhil Chopra, “Control of Soft Robots”, Invited Seminar at Mechanical Engineering Seminar Series, Univ. of Peradeniya, Sri Lanka, January 2020.
Lasitha Weerakoon and Nikhil Chopra, “Bilateral Teleoperation of Soft Robots”, Poster at Do Good Research Symposium, Univ. of Maryland, October 2019.

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