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Gaussian Process-based Min-norm Stabilizing Controller for Control-Affine Systems with Uncertain Input Effects

Nov 14, 2020
Fernando CastaƱeda, Jason J. Choi, Bike Zhang, Claire J. Tomlin, Koushil Sreenath

* The first two authors contributed equally 

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Animated Cassie: A Dynamic Relatable Robotic Character

Sep 07, 2020
Zhongyu Li, Christine Cummings, Koushil Sreenath

* Accepted to 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) 

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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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Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function

Jul 22, 2020
Jun Zeng, Bike Zhang, Koushil Sreenath


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Optimal Robust Safety-Critical Control for Dynamic Robotics

May 14, 2020
Quan Nguyen, Koushil Sreenath


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

May 02, 2020
Fernando CastaƱeda, 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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Reinforcement Learning for Safety-Critical Control under Model Uncertainty, using Control Lyapunov Functions and Control Barrier Functions

Apr 16, 2020
Jason Choi, Fernando CastaƱeda, Claire J. Tomlin, Koushil Sreenath

* The fist two authors contributed equally to this work 

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Staging energy sources to extend flight time of a multirotor UAV

Mar 09, 2020
Karan P. Jain, Jerry Tang, Koushil Sreenath, Mark W. Mueller

* 8 pages, submitted to RA-L with IROS 2020 

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Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control

Nov 28, 2019
Prasanth Kotaru, Koushil Sreenath


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Feedback Control for Autonomous Riding of Hovershoes by a Cassie Bipedal Robot

Jul 26, 2019
Shuxiao Chen, Jonathan Rogers, Bike Zhang, Koushil Sreenath


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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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Deep Visual Perception for Dynamic Walking on Discrete Terrain

Dec 04, 2017
Avinash Siravuru, Allan Wang, Quan Nguyen, Koushil Sreenath

* Presented at Humanoids 2017 

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Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs

Feb 28, 2013
Kevin Galloway, Koushil Sreenath, Aaron D. Ames, J. W. Grizzle


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