We are a team of legged robot enthusiasts based out of Indian Institute of Science, 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.

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Research

Off-Policy Average Reward Actor-Critic with Deterministic Policy Search

Off-Policy Average Reward Actor-Critic with Deterministic Policy Search

Policy gradient theorem for average reward criteria with deterministic policy.

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Dridh Bipedal Robot

Dridh Bipedal Robot

Design, development and experimental realisation of a Bipedal Robot research platform: Dridh

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Collision Cone Control Barrier Functions (C3BF)

Collision Cone Control Barrier Functions (C3BF)

Control Barrier Functions for Kinematic Obstacle Avoidance :A Collision Cone Approach

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Force control for Robust Quadruped Locomotion: A Linear Policy Approach

Force control for Robust Quadruped Locomotion: A Linear Policy Approach

A framework for designing controllers to achieve robust blind quadrupedal walking using force control thorugh learnt linear policies.

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Dynamic Mirror Descent MPC for Model-based Model-free Reinforcement Learning

Dynamic Mirror Descent MPC for Model-based Model-free Reinforcement Learning

A framework for utilizing experience for generating predictive simulations and learning from them.

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Learning Controllers for Robust Bipedal Locomotion on Challenging Terrains

Learning Controllers for Robust Bipedal Locomotion on Challenging Terrains

A framework for sythesizing controllers to achieve blind bipedal walking on challenging terrains thorugh learnt linear policies.

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Robust Quadrupedal Locomotion on Sloped Terrains

Robust Quadrupedal Locomotion on Sloped Terrains

This paper presents a linear policy approach to achieve walking on sloped terrains

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Stoch 1

Stoch 1

A complete description of the hardware design and control architecture of our custom built quadruped robot, called the Stoch

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Active Spine on Stoch 2

Active Spine on Stoch 2

Learning Active Spine Behaviors for Dynamic and Efficient Locomotion

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Trajectory Optimization on Stoch 2

Trajectory Optimization on Stoch 2

Trajectory based Deep Policy Search for Quadrupedal Walking

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Augmented Random Search (RL Algorithm)

Augmented Random Search (RL Algorithm)

Reinforcement Learning using ARS (Augmented random Search)to generate Gaits

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People

Faculty

Staff

Srihari Vemuru S
Srihari Vemuru
Darshit Darji D
Darshit Darji
Vishnu Joshi V
Vishnu Joshi
PESIT
Mohit Javale M
Mohit Javale
BITS
Karthik Garg K
Karthik Garg
IIT BHU
Ketan Nehete K
Ketan Nehete
Project Assistant
Karthik Rajgopal K
Karthik Rajgopal
Project Assistant
Vedvyas Danturi V
Vedvyas Danturi
Project Assistant
Abhishek Ranjan A
Abhishek Ranjan
CSA, IISc
Nithin Vasishta
Nithin Vasishta
Project Assistant
Ravi Kola R
Ravi Kola
Project Assistant

PhD Students

Manan Tayal
RBCCPS, IISc
Pramod Pal
Pramod Pal
ME, IISc
Aman Singh
Aman Singh
RBCCPS, IISc

Masters Students

Tirth Siyala T
Tirth Siyala
M Tech (Res)
Aastha Mishra A
Aastha Mishra
M Tech (Res)
Prakrut Kotecha P
Prakrut Kotecha
M Tech (Res)

Visiting Students

Interns

Alumni

Marck Koothoor VJTI
Aditya Sagi Technical Consultant
Toshan Luktuke VJTI
Sreehari Acharaya Project Assistant
Prakhar Goel Manipal Institute of Technology
Shashank Ramesh Grad Student, University of Notre Dame
Chandravaran Kunjeti Grad Student, University of Pennsylvania
Prathamesh Saraf Grad Student, UC San Diego
Yogita Choudhary IIT BHU
Vishwesh N IIT Kharagpur
Utkarsh A Mishra Grad Student, Georgia Tech
Himanshu Lodha Project Assistant
Sangeet M AI, IISc
Sarang Kadam Krishnrao RAS, IISc
Ankit Pandita AI, IISc
Palaparthi Govindu CSA, IISc
Soumya Rani CSA, IISc
Bhavya Giri Goswami Grad Student, University of Waterloo
Sashank Tirumala Grad Student, CMU
Tejas Rane B.E. BITS, Pilani, Goa
Avinash Bhashkar M.Tech., Centre for advanced studies, Lucknow
Lokesh Krishna Grad Student, USC Viterbi
Shivam Sood IIT Kharagpur
Dhaivat Dholakiya Grad Student, ASU
Abhik Singla Grad Student, UMass
Shounak Bhattacharya Research Engineer, NUS
Abhimanyu Grad Student, CMU
Ajay Gunalan Research Fellow, IIT, Italy