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Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries

Oct 02, 2021
Ayush Agrawal, Shuxiao Chen, Akshara Rai, Koushil Sreenath

* Submitted to ICRA 2022 

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Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles

Jul 01, 2021
Scott Gilroy, Derek Lau, Lizhi Yang, Ed Izaguirre, Kristen Biermayer, Anxing Xiao, Mengti Sun, Ayush Agrawal, Jun Zeng, Zhongyu Li, Koushil Sreenath

* Accepted to 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE 2021) 

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Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization

Aug 01, 2020
Chenyu Yang, Bike Zhang, Jun Zeng, Ayush Agrawal, Koushil Sreenath

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Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning

May 02, 2020
Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Claire J. Tomlin, S. Shankar Sastry, Koushil Sreenath

* Final version appearing in Learning for Dynamics and Control (L4DC) 2020 Conference 

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Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

May 21, 2018
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy Grizzle

* Submitted to IEEE Control System Magazine. This version addresses reviewers' concerns about the robustness of the algorithm and the motivation for using such exoskeletons 

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