Highly Dynamic Robotics
Our research lies at the intersection of Highly Dynamic Robotics and applied Nonlinear Control. Our goal is to design controllers for achieving highly dynamic, fast, energy-efficient, and robust maneuvers on hybrid and underactuated systems such as legged and aerial robots. This will require addressing the challenges of high degree-of-freedom, high degree-of-underactuation, nonlinear and hybrid systems with unilateral constraints, operating in stochastic and hard-to-model regimes. Our work has generated dynamic bipedal locomotion - both walking and running, and dynamic aerial manipulation maneuvers.
Dynamically feasible motion planning through partial differential flatness. Suresh Ramasamy, Guofan Wu, and Koushil Sreenath. In Robotics: Science and Systems (RSS), Berkeley, CA, July 2014. Details | pdf
Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics. Aaron D. Ames, Kevin Galloway, Koushil Sreenath, and J. W. Grizzle. IEEE Transactions on Automatic Control (TAC), 59(4):876–891, April 2014. Details | pdf
Toward autonomous avian-inspired dynamic grasping and perching. Justin Thomas, Giuseppe Loianno, Joseph Polin, Koushil Sreenath, and Vijay Kumar. Bioinspiration & Biomimetics, 9(2):025010, June 2014. Details | pdf
Toward image based visual servoing for aerial grasping and perching. Justin Thomas, Giuesppe Loianno, Koushil Sreenath, and Vijay Kumar. In IEEE International Conference on Robotics and Automation (ICRA), 2014. Details | pdf