The verb stem which ends in the vowel sound "a" for godan verbs is often called the "negative" base, because it is used for the negative endings -nai and -nakatta. This is the stem used for the -saseru ending as well.

iku -> ika + saseru = ikasaseru
au -> awa + saseru = awasaseru
Note that when the last syllable of a dictionary form is "u", it changes to "wa"-- alien-san's inflection was incorrect.

taberu -> tabe + saseru = tabesaseru (ichidan verb)

suru and kuru are irregular, but again the stems used are the same ones used with -nai:

suru -> shinai, shisaseru
kuru -> konai, kosaseru

This information is explained on the main page on Verbs, http://www.studyjapanese.org/language-reference/verbs .

i am not clear how to use SASERU form with the verbs IKU AU TABERU KURU SURU

Causative means "causes to happen". So in the example sentence, "made" is the key word-- I caused Torako to get off the kitchen table.

The -saseru and -aseru endings inflect the same way ichidan (ru-dropping) verbs inflect, so the polite inflections are -sasemasu, -sasemasen (negative), -sasemashita (past), -sasemasendeshita (negative past), and similarly for -aseru.

@alynne-san: So -sasemasen and -asemasen are the endings for causative negatives in the present/future tense, not past negatives.

Sorry, wikipedia solved my problem.