Publications

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.