Keshav Iyengar — accepted AI-conference papers

2023

Sim2Real Transfer of Reinforcement Learning for Concentric Tube Robots

Keshav Iyengar, S. M. Hadi Sadati, Christos Bergeles, Sarah K. Spurgeon, Danail Stoyanov

RA-L 2023

Concentric Tube Robots (CTRs) are promising for minimally invasive interventions due to their miniature diameter, high dexterity, and compliance with soft tissue. CTRs comprise individual pre-curved tubes usually composed of NiTi and are arranged concentrically. As each tube is relatively rotated an

Cited by 11 Source ↗Scholar ↗

2021

Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum

Keshav Iyengar, Danail Stoyanov

ICRA 2021poster

Concentric Tube Robots (CTRs), a type of continuum robot, are a collection of concentric, pre-curved tubes composed of super elastic nickel titanium alloy. CTRs can bend and twist from the interactions between neighboring tubes causing the kinematics and therefore control of the end-effector to be v…

Cited by 10 Source ↗Scholar ↗