Keerthi Sagar

Hi there! I am a Marie-Curie Research Fellow at Irish Manufacturing Research CLG and KUKA, Ireland , where I am a part of the Robotics and Automation team. My involves robot motion planning, optimization, and control. I am currently working on optimization and control strategies to enable robots to perform fine and dexterous manipulation tasks using both autonomous and teleoperation techniques.

Before starting my Marie-Curie PostDoctoral Fellowship, I obtained my Ph.D. in robotics from University of Genova, Italy under the guidance of Prof. Matteo Zoppi and Prof. Dimiter Zlatanov .

Email  /  GitHub  /  Google Scholar  /  LinkedIn  /  Resume  / 

Industrial Projects and Public Demonstrations

I have worked on industrial projects involving robot-robot collaboration, human-robot collaboration and teleoperation focussed towards medical-device manufacturing. I have worked on EU-H2020 project "COLLABORATE" and EU-FP7 project "SWARMITFIX".

Digital Twin of real robot in KUKA SIM

Work presents a code repository for real-time joint visualization of KUKA robot states in KUKA SIM using python port.

5G Use-case demonstration using Telerobotics

Developed a Telerobotics demonstrator to showcase Vodafone and IMR’s 5G Capabilities as part of my Marie-Curie fellowship.

Digital Simulation of Human-Robot Collaborative Windshield assembly

Delmia simulation showing Human-Robot Collaboration of windshield gripper assembly using a collaborative gripper equipped with tactile handles developed for CRF-Fiat, Italy

Research

I'm interested in robot motion planning, dexterous manipulation, kinematics and optimal control.

Tactile human-robot collaborative robot gripper for windshield inspection and assembly

Work presents human and a robot are working together to easily inspect and preassemble a heavy car windshield using hand guidance and a tactile windshield gripper.

Polytope-Based Continuous Scalar Performance Measure With Analytical Gradient for Effective Robot Manipulation

This work presents a polytope-based kinetostatic index that can be used to achieve complex force and velocity-targetted manipulation in both serial and parallel robots. The index alongside its analytical gradient can be utilized for efficient real-time control.

Towards High Dynamic Operations With Parallel-Serial Hybrid Robots

This work presents results on kinematic modeling, motion generation and control of a parallel-serial hybrid robot architecture employed as a reconfigurable subsystem alongside serial kinematic chains for high speed machining and fixturing in aerospace application.

Modeling and Stiffness Evaluation Of Tendon-Driven Robot For Collaborative Human-Robot Interaction

The work presents the detailed mathematical analysis of the stiffness evaluation of tendon-driven serial kinematic chains which allow single-point and multi-point routing with bundling per rigid link.

STORM: Screw Theory Toolbox For Robot Manipulator and Mechanisms

This work presents STORM, an educational and research oriented software framework for analysis and visualization of reciprocal screw systems for a class of robot manipulator and mechanisms, to help bridge the gap between theory and practice of application of screw theory in the constraint and motion analysis for robot mechanisms.

Artificial intelligence planners for multi-head path planning of SwarmItFIX agents

Markov decision based planner for path planning triangular heads of the robotic fixturing agents. The method is compared against existing constrained satifsfaction problem (CSP) methodology. The code presents the CSP formulation developed for the fixturing robotic agents.

The SwarmItFix Pilot

The work presents the integration and experiments with a pilot cell including a traditional machine tool and an innovative robot-swarm cooperative conformable support for aircraft body panels.

Miniaturized Flexible Flow Pump Using SMA Actuator

This paper proposes a novel methodology of actuation based on flow generation in a flexible tube by inducing variable pressure difference within the tube by external actuation by Shape Memory Alloy (SMA) wires.

Design and source code from Jon Barron's website. Jekyll version from Leonid Keselman's website