We are a team of legged robot enthusiasts based out of Indian Institute of Science (IISc), Bengaluru. We are mainly interested in advanced mobility in extremely challenging terrains. The team consists of technical staff members, students, interns and faculty with varying backgrounds and interests.
News
-
May 02, 2025
Our recent work titled “A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems” has been accepted to International Conference on Machine Learning (ICML) 2025, Vancouver, Canada. (ICML 2025).
-
March 15, 2025
We are thrilled to announce that our Patent (Application Number: 202341032643) on “A method and system for controlling quadrupedal robot locomotion” by Aditya Shirwatkar, Aditya Sagi and Shishir Kolathaya has been granted by the Indian patent office.
-
January 31, 2025
Our recent work titled “PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion” has been accepted to IEEE International Conference on Robotics and Automation (ICRA) 2025, Atlanta, USA.
-
September 25, 2024
We are thrilled to announce that 3 of our papers have been accepted to Indian Control Conference (ICC) 2024, Bhopal, India. Congratulations to all the authors!
Active Research
.png)
PEPC: Data-Driven Physics Embedded Dynamics with Predictive Control and Reinforcement Learning for Quadrupeds
Lagrangian Neural Networks (LNN) for quadrupedal robot locomotion.
MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion
A learning based framework for load adaptive quadrupedal robot locomotion on mutiple terrains.
Co-Optimizing Safety and Performance for Autonomous Systems
A physics informed machine learning framework for safe & optimal control of Autonomous Systems using Conformal Prediction.
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
A framework to achieve proprioceptive quadrupedal robot locomotion by combing MPC & RL.
Formally verified Neural CBF in stochastic environment
Neural Network Based CBF with completeness guarantees
People
Faculty
Shishir Kolathaya
Assistant Professor, CSA & CPS, IISc
Collaborators
Aaron Ames
Bren Professor, ME & CDS, Caltech
Somil Bansal
Assistant Professor, AA, Stanford
Ayonga Hereid
Assistant Professor, ME & AE, OSU
Andrew Clark
Associate Professor, ESE, WUSTL
Pushpak Jagtap
Assistant Professor, CPS, IISc
Debasish Ghose
Professor, AE & CPS, IISc
Bharadwaj Amrutur
Professor, ECE & CPS, IISc
Shalabh Bhatnagar
Professor, CSA, IISc
Jishnu Keshavan
Assistant Professor, ME, IISc
Ashish Joglekar
Visting Faculty, CPS, IISc. Co-founder, Twara Robotics
Ashitava Ghosal
Prof. Satish Dhavan Chair Professor, ME, IISc (Retd.)
PhD Students
Pramod Pal
Design of Legged Robots
Vamshi Kumar Kurva
Learning Based Control
Manan Tayal
Safe Robot Learning and Control
Aman Singh
Design and Control Co-Optimization
Aditya Shirwatkar
Contact Rich Legged Locomotion
Aastha Mishra
Design and Control Co-Optimization
Prakrut Kotecha
Learning based controls of Legged Robots
Masters Students
Tirth Shiyala
M Tech (Res)
Shreyansh Sharma
M.Tech. RAS
Vaishnav B
M.Tech. RAS
Teja Sai Ganesh (SAGA)
M.Tech. AI
Sudharsan
M.Tech. RAS
Ishita Ganjoo
M.Tech. RAS (Sponsered student from ISRO)
Adith Muralidharan
M.Tech. RAS
Ganga Nair
M.Tech. RAS
Pranav Tiwari
M.Tech. RAS
UG Students
Shreenabh Agrawal
Undergraduate Student, Physics
