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  / 

Awards

Few awards won during my fellowship.

Best Presentation Award

Presented work on “Direct-Collocation based Trajectory Optimization of Cable Driven Parallel Robot Using an Analytical Kinetostatic Index”

Hackathon Runners-Up

Secured second-place in industrial-grade bin-picking challenge organized by European Union Project- ACROBA.

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".

Force sensitivity demonstration of KUKA LBR IISY

Force sensitivity demonstration of KUKA LBR IISY

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

VR Gaming Motion Simulator using Stewart Platform

Extensively involved the design team developing a custom 7-DOF Motion simulator for an Italian gaming company.

Research

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

Agile Intralogistics with Mobile Robot and Collaborative Robot using ROS2 & Nav2

KMR-iiwa mobile manipulator interacting with industrial cells to transport and assemble plastic gear-boxes.

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

Human-Robot collaboration to inspect and preassemble a car windshield using hand guidance and a tactile gripper.

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

A polytope-based kinetostatic index to achieve complex force and velocity-targeted manipulation in both serial and parallel robots.

Towards High Dynamic Operations With Parallel-Serial Hybrid Robots

Motion generation and control of a parallel-serial hybrid robot architecture for high speed machining and fixturing in aerospace application.

HEDRA: A Bio-Inspired Modular Tensegrity Robot With Polyhedral Parallel Modules

This paper proposes a new robotic mechanism based on tensegrity (‘tension-integrity’) robots and reconfigurable modular robots.

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

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 constraint and motion analysis and visualization of reciprocal screw systems for a class of robot manipulator and 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 using constrained satifsfaction problem (CSP).

The SwarmItFix Pilot

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

Miniaturized flexible fluid flow pump using SMA wires by inducing variable pressure difference within a felxible tube.

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