Projects

STRIDE - Structured Lagrangian and Stochastic Residual Dynamics

Physics-guided dynamics learning combining Lagrangian Neural Networks with Flow Matching for stochastic contact modeling.

Dynamics Learning Flow Matching Quadrupedal Locomotion

QHuMuS - Reconfigurable Robots

Designed a novel system that transitions between serpentine, wheeled-quadruped, and humanoid modes without rearrangement.

Reconfigurable Robotics Morphology Multi-modal Locomotion

Real-Time Gait Adaptation for Quadrupeds

Adaptive gait generation using MPC integrated with RL for dynamic quadrupedal locomotion.

Quadrupedal Locomotion MPC Gait Optimization

Lagrangian Neural Networks for Quadrupedal Locomotion

Physics-informed neural networks for infinite horizon planning in quadrupedal locomotion.

Deep Learning Physics-Informed ML Dynamics

Non-Prehensile Manipulation

Framework combining striking, pushing, and pick & place motion primitives.

Manipulation Trajectory Optimization Gripper Design

Control and Design of Quadruped Robot

Hybrid Dynamics-based controller for dynamic walking gait generation.

Quadruped Hybrid Dynamics Control Design

Gait and Trajectory Optimization for Bipeds

Trajectory optimization on 5-link kneed walker with non-linear dynamics and chaos theory.

Bipedal Trajectory Optimization Chaos Theory

PixGuide Navigation Device

Hardware navigation device for two-wheelers developed at IvLabs.

Hardware Navigation Embedded Systems

Combining RL and MPC for Bipedal Walking

Implemented a hybrid control strategy combining Reinforcement Learning with Model Predictive Control.

Bipedal Robots RL MPC

Collision Cone Control Barrier Function

Safety barriers for UAV obstacle avoidance using Control Barrier Functions.

UAV Control Barrier Functions Safety

Hierarchical Manipulation Planning

Framework combining striking, pushing, and pick & place motion primitives.

Manipulation Planning Motion Primitives

KIMERA - Visual SLAM Perception

Implemented visual SLAM using KIMERA for real-time metric-semantic localization and mapping.

Visual SLAM KIMERA Robotics

MPC for UGVs in Unknown Environments

Waypoint generation and navigation controls for obstacle avoidance using MPC.

UGV MPC Navigation