We are a team of legged robot enthusiasts based out of Indian Institute of Science, Bengaluru. We are mainly interested in advanced mobility in extremely challenging terrains. The team consists of technical staff members, students, interns and faculty with varying backgrounds and interests.

News

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Research

Learning a formally verified CBF in stochastic environment

Neural Network Based CBF with completeness guarantees

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Dynamic Manipulator

Dynamic Manipulator

A highly dynamic, torque controllable manipulator for quadruped robots.

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Collision Cone Control Barrier Functions (C3BF)

Collision Cone Control Barrier Functions (C3BF)

Control Barrier Functions for Kinematic Obstacle Avoidance :A Collision Cone Approach

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Force control for Robust Quadruped Locomotion: A Linear Policy Approach

Force control for Robust Quadruped Locomotion: A Linear Policy Approach

A framework for designing controllers to achieve robust blind quadrupedal walking using force control thorugh learnt linear policies.

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Energy Based Control Barrier Functions

Energy Based Control Barrier Functions

A new class of CBFs for robotic systems that augment kinetic energy with the traditional forms.

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People

Faculty

Shishir Kolathaya
Assistant Professor, CSA & CPS, IISc

Collaborators

Pushpak Jagtap
Assistant Professor, CPS, IISc
Jishnu Keshavan
Assistant Professor, ME, IISc
Ayonga Hereid
Assistant Professor, ME & AE, OSU
Andrew Clark
Associate Professor, ESE, WUSTL
Debasish Ghose
Professor, AE & CPS, IISc
Bharadwaj Amrutur
Professor, ECE & CPS, IISc
Shalabh Bhatnagar
Professor, CSA, IISc
Aaron Ames
Bren Professor, ME & CDS, Caltech
Ashitava Ghosal
Prof. Satish Dhavan Chair Professor, ME, IISc (Retd.)

PhD Students

Pramod Pal
Design of Legged Robots
Vamshi Kumar Kurva
Learning Based Control
Manan Tayal
Safe Robot Learning and Control
Aman Singh
Design and Control Co-Optimization
Aditya Shirwatkar
Model Based RL

Masters Students

Aastha Mishra
Aastha Mishra
M Tech (Res)
Prakrut Kotecha
M Tech (Res)
Tirth Shiyala
M Tech (Res)
Sudharsan S
Sudharsan
M.Tech. RAS
Ishita Ganjoo I
Ishita Ganjoo
M.Tech. RAS (Sponsered student from ISRO)

Alumni

Kumar Ankit Ph.D., 2024
GVS Mothish M.Tech. RAS, 2024
Abhishek Ranjan M.Tech. Research, 2024
Naman Saxena M.Tech. Research, 2023
Sangeet M M.Tech. AI, 2023
Subhojyoti Khastagir M.Tech. CSA, 2023
Phani M Thontepu M.Tech. AI, 2022
Ankit Pandita M.Tech. AI, 2022
Palaparthi Govindu M.Tech. CSA, 2022
Devaraju Vinoda M.Tech. CSA,2022
Soumya Rani M.Tech. CSA, 2021