Keerthi Sagar — accepted AI-conference papers

2023

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

Keerthi Sagar, Stéphane Caro, Taskin Padir, Philip Long

RA-L 2023

Performance measures are essential to characterize a robot's ability to carry out manipulation tasks. Generally, these measures examine the system's kinematic transformations from configuration to task space, but the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.o

Cited by 5 Source ↗Scholar ↗

2020

STORM: Screw Theory Toolbox For Robot Manipulator and Mechanisms

Keerthi Sagar, Vishal Ramadoss, Dimiter Zlatanov, Matteo Zoppi

IROS 2020poster

Screw theory is a powerful mathematical tool for the kinematic analysis of mechanisms and has become a cornerstone of modern kinematics. Although screw theory has rooted itself as a core concept, there is a lack of generic software tools for visualization of the geometric pattern of the screw elemen…

Cited by 4 Source ↗Scholar ↗