D Kasun Prasanga
Papers
7
Total Citations
46
H-Index
5
About
D. Kasun Prasanga is a robotics researcher whose work bridges the gap between human control and machine precision, focusing on teleoperation, haptic feedback, and actuator compensation. His primary research areas include backlash compensation for geared drive systems, bipedal locomotion control, and tactile-based object identification. Prasanga’s most significant contribution is a novel method to cancel backlash in geared drive systems and thrust wires—a critical challenge for large-scale robots where high-torque actuators introduce gravity-related instability. His 2015 paper on this topic has garnered 14 citations, establishing a foundation for more reliable teleoperated systems. He further advanced human-robot interaction by developing a simultaneous bipedal locomotion method using haptics, enabling intuitive remote control of biped robots without requiring high computational power (7 citations). Prasanga has also explored tactile sensing for identifying unknown object properties with a two-finger gripper (6 citations) and recently applied reinforcement learning to generate gait patterns for a hexapod ant robot (2024). His work on 3D localization using monocular cameras (2023) extends his expertise into computer vision. Through these contributions, Prasanga has demonstrated a consistent focus on making robots more responsive, stable, and intuitive to control—key priorities for advancing teleoperation in challenging environments.
Research Focus
Key Achievements
Top Papers
- 1
- 2Compensation of backlash for teleoperated geared motor drive systems9 citations · 2013
- 3Simultaneous bipedal locomotion based on haptics for teleoperation7 citations · 2019
- 4
- 5
- 63D Localization of an Object Using a Monocular Camera3 citations · 2023
- 7