324 citations · 420 across the 56 of their papers we have counts for
46 papers · 1 filter
Shield-Loco: Shielding Locomotion Policies with Predictive Safety Filtering
Aditya Shirwatkar, Sebastian Sanokowski, Shishir Kolathaya +2
Reinforcement learning (RL) policies enable dynamic legged locomotion but lack mechanisms to avoid violations of safety constraints that are absent during training. Large-scale off…
Energy-Efficient Quadruped Locomotion with Compliant Feet
Pramod Pal, Shishir Kolathaya, Ashitava Ghosal
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability…
DTEA: A Dual-Topology Elastic Actuator Enabling Real-Time Switching Between Series and Parallel Compliance
Vishal Ramesh, Aman Singh, Shishir Kolathaya
Series and parallel elastic actuators offer complementary but mutually exclusive advantages, yet no existing actuator enables real-time transition between these topologies during o…
A Co-Design Framework for High-Performance Jumping of a Five-Bar Monoped with Actuator Optimization
Aastha Mishra, Aman Singh, Shishir Kolathaya
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most exist…
VIP-Loco: A Visually Guided Infinite Horizon Planning Framework for Legged Locomotion
Aditya Shirwatkar, Satyam Gupta, Shishir Kolathaya
Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing i…
Data-Driven Physics Embedded Dynamics with Predictive Control and Reinforcement Learning for Quadrupeds
Prakrut Kotecha, Aditya Shirwatkar, Shishir Kolathaya
State of the art quadrupedal locomotion approaches integrate Model Predictive Control (MPC) with Reinforcement Learning (RL), enabling complex motion capabilities with planning and…
STRIDE: Structured Lagrangian and Stochastic Residual Dynamics via Flow Matching
Prakrut Kotecha, Ganga Nair B, Shishir Kolathaya
Robotic systems operating in unstructured environments must operate under significant uncertainty arising from intermittent contacts, frictional variability, and unmodeled complian…
Real-Time Gait Adaptation for Quadrupeds using Model Predictive Control and Reinforcement Learning
Prakrut Kotecha, Ganga Nair B, Shishir Kolathaya
Model-free reinforcement learning (RL) has enabled adaptable and agile quadruped locomotion; however, policies often converge to a single gait, leading to suboptimal performance. T…
A Co-Design Framework for Energy-Aware Monoped Jumping with Detailed Actuator Modeling
Aman Singh, Aastha Mishra, Deepak Kapa +2
A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum heigh…
COMPAct: Computational Optimization and Automated Modular design of Planetary Actuators
Aman Singh, Deepak Kapa, Suryank Joshi +1
The optimal design of robotic actuators is a critical area of research, yet limited attention has been given to optimizing gearbox parameters and automating actuator CAD. This pape…
MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control
Manan Tayal, Aditya Singh, Shishir Kolathaya +1
Co-optimizing safety and performance in large-scale multi-agent systems remains a fundamental challenge. Existing approaches based on multi-agent reinforcement learning (MARL), saf…
Signal Temporal Logic Compliant Co-design of Planning and Control
Manas Sashank Juvvi, Tushar Dilip Kurne, Vaishnavi J +2
This work presents a novel co-design strategy that integrates trajectory planning and control to handle STL-based tasks in autonomous robots. The method consists of two phases: $(i…
Safety Certification in the Latent space using Control Barrier Functions and World Models
Mehul Anand, Shishir Kolathaya
Synthesising safe controllers from visual data typically requires extensive supervised labelling of safety-critical data, which is often impractical in real-world settings. Recent…
Comparison between External and Internal Single Stage Planetary gearbox actuators for legged robots
Aman Singh, Deepak Kapa, Prasham Chedda +1
Legged robots, such as quadrupeds and humanoids, require high-performance actuators for efficient locomotion. Quasi-Direct-Drive (QDD) actuators with single-stage planetary gearbox…
Investigating Lagrangian Neural Networks for Infinite Horizon Planning in Quadrupedal Locomotion
Prakrut Kotecha, Aditya Shirwatkar, Shishir Kolathaya
Lagrangian Neural Networks (LNNs) present a principled and interpretable framework for learning the system dynamics by utilizing inductive biases. While traditional dynamics models…
GRoQ-LoCO: Generalist and Robot-agnostic Quadruped Locomotion Control using Offline Datasets
Narayanan PP, Sarvesh Prasanth Venkatesan, Srinivas Kantha Reddy +1
Recent advancements in large-scale offline training have demonstrated the potential of generalist policy learning for complex robotic tasks. However, applying these principles to l…
MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion
Vamshi Kumar Kurva, Shishir Kolathaya
Quadrupedal robots are increasingly deployed for load-carrying tasks across diverse terrains. While Model Predictive Control (MPC)-based methods can account for payload variations,…
Neural Control Barrier Functions from Physics Informed Neural Networks
Shreenabh Agrawal, Manan Tayal, Aditya Singh +1
As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaran…
A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
Aman Singh, Bhavya Giri Goswami, Ketan Nehete +1
This paper introduces a chain-driven, sandwich-legged mid-size quadruped robot designed as an accessible research platform. The design prioritizes enhanced locomotion, improved act…
A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems
Manan Tayal, Aditya Singh, Shishir Kolathaya +1
As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectiv…
Discrete time model predictive control for humanoid walking with step adjustment
Vishnu Joshi, Suraj Kumar, Nithin V +1
This paper presents a Discrete-Time Model Predictive Controller (MPC) for humanoid walking with online footstep adjustment. The proposed controller utilizes a hierarchical control…
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
Manan Tayal, Aditya Singh, Pushpak Jagtap +1
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide sa…
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
Aditya Shirwatkar, Naman Saxena, Kishore Chandra +1
A core strength of Model Predictive Control (MPC) for quadrupedal locomotion has been its ability to enforce constraints and provide interpretability of the sequence of commands ov…
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
GVS Mothish, Manan Tayal, Shishir Kolathaya
Locomotion on unknown terrains is essential for bipedal robots to handle novel real-world challenges, thus expanding their utility in disaster response and exploration. In this wor…