Koushil Sreenath-Mechanical Engineering - Carnegie Mellon University

Koushil Sreenath

Assistant Professor, Mechanical Engineering

Courtesy Appointment, Robotics Institute

Address:
5000 Forbes Avenue
Pittsburgh, PA 15213
Office: 310 Scaife Hall
Phone: 412-268-2501

Bio

Professor Sreenath’s research interest lies at the intersection of highly dynamic robotics and applied nonlinear control.  In particular, he employs feedback control to ascribe high-performance features seen in biological systems to robots.  This involves designing controllers that address challenges of dealing with high degree-of-freedom, high degree-of-underactuation, with nonlinear and hybrid dynamics. His work on dynamic legged locomotion on the bipedal robot MABEL was featured on The Discovery Channel, CNN, ESPN, FOX and CBS.  His work on dynamic aerial manipulation was featured on IEEE Spectrum, New Scientist, Huffington Post, and several other online media networks. His work on adaptive sampling with mobile sensor networks was published as a book titled "Adaptive Sampling with Mobile WSN" by IET.

Education

Ph.D. 2011, Electrical Engineering: Systems, University of Michigan at Ann Arbor
M.S. 2011, Applied Mathematics, University of Michigan at Ann Arbor
M.S. 2005, Electrical Engineering, University of Texas at Arlington
B.E. 2002, Electronics & Communications, Vishweshwaraiah Technological University

Publications

  • A. D. Ames, K. Galloway, J. W. Grizzle, and K. Sreenath, "Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics", IEEE Transactions on Automatic Control, to appear, 2013.
  • K. Sreenath and V. Kumar, "Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots", Robotics: Science and Systems, June 2013.
  • K. Sreenath, N. Michael, and V. Kumar, "Trajectory generation and control of a quadrotor with a cable-suspended load - A differentially-flat hybrid system", IEEE International Conference on Robotics and Automation, pp. 4873-4880, May 2013.
  • K.  Sreenath, H.-W.Park, I. Poulakakis, and J. W. Grizzle, "Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL", The International Journal of Robotics Research, 32(3):324–345, March 2013.
  • K. Sreenath, H.-W. Park, I. Poulakakis, and J. W. Grizzle, "Compliant hybrid zero dynamics controller for achieving stable, efficient and fast bipedal walking on MABEL", The International Journal of Robotics Research, 30(9):1170–1193, August 2011.