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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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