Satish Sundar

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About

Satish Sundar is a robotics researcher whose work has centered on the optimal control and dynamic performance of robotic manipulators. His primary contributions lie in developing methods for time-optimal control, both in feedback and trajectory planning contexts. Sundar's 2002 paper, "Design of robotic manipulators for optimal dynamic performance," which has garnered 29 citations, presents a foundational method for selecting link lengths and actuator sizes to minimize motion time along specified paths, using parameter optimization as a benchmark. This work is complemented by his 1995 thesis on "Time-optimal obstacle avoidance for robotic manipulators," which introduced an on-line method for generating near-time optimal trajectories in cluttered environments by avoiding obstacles sequentially. Sundar also advanced the theoretical understanding of optimal control with his 1996 paper on a "Generalized Sufficient Condition for Time-Optimal Control," which broadened existing sufficient conditions beyond the Hamilton-Jacobi-Bellman equation. His 2005 work further addressed the computational challenges of solving the HJB equation for nonlinear systems like articulated manipulators. Through these contributions, Sundar has provided both practical design tools and theoretical frameworks that continue to inform research in robotic motion planning and control.