My research interest lies at the intersection of robotics and control. In particular, I design controllers for achieving highly dynamic, fast, energy-efficient, and robust maneuvers on hybrid and underactuated systems such as legged and aerial robots. I employ techniques from nonlinear, geometric and embedded control.
Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics. Aaron D. Ames, Kevin Galloway, J. W. Grizzle, and Koushil Sreenath. IEEE Transactions on Automatic Control (TAC), to appear, 2013. Details | pdf
Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. The International Journal of Robotics Research (IJRR), 32(3):324–345, March 2013. Details | pdf
Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load. Koushil Sreenath, Taeyoung Lee, and Vijay Kumar. In IEEE Conference on Decision and Control (CDC), to appear, 2013. Details | pdf
Compliant hybrid zero dynamics controller for achieving stable, efficient and fast bipedal walking on MABEL. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. The International Journal of Robotics Research (IJRR), 30(9):1170–1193, August 2011. Details | pdf
Torque saturation in bipedal robotic walking through control lyapunov function based quadratic programs. Kevin Galloway, Koushil Sreenath, Aaron D. Ames, and Jessy W. Grizzle. IEEE Transactions on Robotics (TRO), submitted, 2013. Details | pdf
Adaptive Sampling with Mobile WSN: Simultaneous robot localisation & mapping of parametric spatio-temporal fields. Koushil Sreenath, Muhammad F. Mysorewala, Dan O. Popa, and Frank L. Lewis. Control Engineering Series. IET, February 2011. ISBN 978-1-84919-257-6. Details | Table of contents
[Jul. 2013] CDC papers (a, b) accepted.
[Jun. 2013] Best Paper Award at Robotics: Science and Systems.
[May 2013] Accepted Faculty position at Mechanical Engineering at Carnegie Mellon University.
[Apr. 2013] RSS paper accepted.
[Mar. 2013] TAC paper accepted.