Publications

2022
January
PDF 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
PDF 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
PDF Motion Planning With Dynamic Obstacles Using Convexified Control Barrier Functions
VP Varun, AP Vinod, and S Kolathaya
IEEE Indian Control Conference (ICC) 2021

September
PDF 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
PDF 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
PDF 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
PDF 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
PDF Safety-Critical Kinematic Control of Robotic Systems
Andrew Singletary, Shishir Kolathaya, and and Aaron D. Ames
L-CSS & ACC 2021
2020
November
PDF 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
PDF 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
PDF Local Stability of PD Controlled Bipedal Walking Robots
Shishir Kolathaya
Automatica
2019
December
PDF 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
PDF 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
PDF 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
PDF 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
PDF 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.