2022
January
|
Dynamic Mirror Descent based Model Predictive Control for Accelerated Robot Learning
Utkarsh A. Mishra,
Soumya R. Samineni,
Prakhar Goel,
Chandravaran Kunjeti,
Himanshu Lodha,
Aman Singh,
Aditya Sagi,
Shalabh Bhatnagar,
and
Shishir Kolathaya
ICRA 2022
|
January
|
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
Lokesh Krishna*,
Guillermo A. Castillo*,
Utkarsh A. Mishra,
Ayonga Hereid,
and
Shishir Kolathaya
RA-Letters & ICRA 2022
|
2021
December
|
Motion Planning With Dynamic Obstacles Using Convexified Control Barrier Functions
VP Varun,
AP Vinod,
and
S Kolathaya
IEEE Indian Control Conference (ICC) 2021
|
September
|
Learning Linear Policies for Robust Bipedal Locomotionon Terrains with Varying Slopes
Lokesh Krishna,
Utkarsh A. Mishra,
Guillermo A. Castillo,
Ayonga Hereid,
and
Shishir Kolathaya
IROS 2021
Prague, Czech Republic.
|
September
|
Inverse Kinematics Analysis of Cassie Robot using Radial Basis Function Networks
Mukund Mitra,
Suman Raj,
and
Shishir Kolathaya
IEEE International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation (IRIA) 2021
|
July
|
PD Tracking for a Class of Underactuated Robotic Systems With Kinetic Symmetry
Shishir Kolathaya
IEEE Control Systems Letters (L-CSS) & Conference on Decision and Control (CDC) 2020
|
May
|
Coupled control Lyapunov functions for interconnected systems, with application to quadrupedal locomotion
Wen-Loong Ma,
Noel Csomay-Shanklin,
Shishir Kolathaya,
Kaveh Akbari Hamed,
and
Aaron D Ames
RA Letters & ICRA 2021
|
January
|
Safety-Critical Kinematic Control of Robotic Systems
Andrew Singletary,
Shishir Kolathaya,
and
and Aaron D. Ames
L-CSS & ACC 2021
|
2020
November
|
Robust Quadrupedal Locomotion on Sloped Terrains - A Linear Policy Approach
Kartik Paigwar,
Lokesh Krishna,
Sashank Tirumala,
Naman Khetan,
Aditya Sagi,
Ashish Joglekar,
Shalabh Bhatnagar,
Ashitava Ghosal,
Bharadwaj Amrutur,
and
Shishir Kolathaya
4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA.
|
July
|
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations
Sashank Tirumala,
Sagar Gubbi,
Kartik Paigwar,
Aditya Sagi,
Ashish Joglekar,
Shalabh Bhatnagar,
Ashitava Ghosal,
Bharadwaj Amrutur,
and
Shishir Kolathaya
IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) 2020
Naples, Italy.
|
April
|
Local Stability of PD Controlled Bipedal Walking Robots
Shishir Kolathaya
Automatica
|
2019
December
|
Gait Library Synthesis for Quadruped Robots via Augmented Random Search
Sashank Tirumala,
Aditya Sagi,
Kartik Paigwar,
Ashish Joglekar,
Shalabh Bhatnagar,
Ashitava Ghosal,
Bharadwaj Amrutur,
and
Shishir Kolathaya
arXiv
|
October
|
Learning active spine behaviors for dynamic and efficient locomotion in quadruped robots
Shounak Bhattacharya,
Abhik Singla,
Dhaivat Dholakiya,
Shalabh Bhatnagar,
Bharadwaj Amrutur,
Ashitava Ghosal,
and
Shishir Kolathaya
IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)
New Delhi, India.
|
October
|
Trajectory based deep policy search for quadrupedal walking
Shishir Kolathaya,
Ashish Joglekar,
Suhan Shetty,
Dhaivat Dholakiya,
Aditya Sagi,
Shounak Bhattacharya,
Abhik Singla,
Shalabh Bhatnagar,
Ashitava Ghosal,
and
Bharadwaj Amrutur
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) 2019
New Delhi, India.
|
August
|
Design, development and experimental realization of a quadrupedal research platform :Stoch
Dhaivat Dholakiya,
Shounak Bhattacharya,
Ajay Gunalan,
Abhik Singla,
Shalabh Bhatnagar,
Bharadwaj Amrutur,
Ashitava Ghosal,
and
Shishir Kolathaya
IEEE ICCAR 2019
Beijing, China.
|
May
|
Realizing learned quadruped locomotion behaviors through kinematic motion primitives
Abhik Singla,
Shounak Bhattacharya,
Dhaivat Dholakiya,
Shalabh Bhatnagar,
Ashitava Ghosal,
Bharadwaj Amrutur,
and
Shishir Kolathaya
ICRA 2019
Montreal, Canada.
|