Postdoctoral Research Fellow
Department of Mechanical Engineering and Applied Mechanics
University of Pennsylvania
Affliated with the GRASP Lab
    Advisor: Vijay Kumar

Ph.D. 2011, Electrical Engineering: Systems, University of Michigan at Ann Arbor
    Thesis: Feedback Control of a Bipedal Walker and Runner with Compliance
    Advisor: Jessy W. Grizzle

Research Interest

My research interest lies at the intersection of robotics and control.  In particular, I design controllers for achieving highly dynamic, fast, energy-efficient, and robust maneuvers on hybrid and underactuated systems such as legged and aerial robots.  I employ techniques from nonlinear, geometric and embedded control.

Select Publications

  1. Rapidly exponentially stabilizing control lyapunov functions and hybrid zero dynamics. Aaron D. Ames, Kevin Galloway, J. W. Grizzle, and Koushil Sreenath. IEEE Transactions on Automatic Control (TAC), accepted, 2013. Details | pdf
  2. Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. The International Journal of Robotics Research (IJRR), 32(3):324–345, March 2013. Details | pdf
  3. Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load. Koushil Sreenath, Taeyoung Lee, and Vijay Kumar. In IEEE Conference on Decision and Control (CDC), submitted, 2013. Details | pdf
  4. Compliant hybrid zero dynamics controller for achieving stable, efficient and fast bipedal walking on MABEL. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. The International Journal of Robotics Research (IJRR), 30(9):1170–1193, August 2011. Details | pdf
  5. Torque saturation in bipedal robotic walking through control lyapunov function based quadratic programs. Kevin Galloway, Koushil Sreenath, Aaron D. Ames, and Jessy W. Grizzle. IEEE Transactions on Robotics (TRO), submitted, 2013. Details | pdf
  6. Adaptive Sampling with Mobile WSN: Simultaneous robot localisation & mapping of parametric spatio-temporal fields. Koushil Sreenath, Muhammad F. Mysorewala, Dan O. Popa, and Frank L. Lewis. Control Engineering Series. IET, February 2011. ISBN 978-1-84919-257-6. Details | Table of contents







What's New

[Jan. 2013] Work on Feedback control for legged locomotion leads to MABEL being exhibited at the Chicago Field Museum !!
ICRA paper accepted
[Dec. 2012] IJRR Running paper accepted, HSCC paper accepted
[Nov. 2012] Nonlinear geometric controller for almost-global exponential attractivity of a suspended load designed
[Sep. 2012] High-speed avian-inspired grasping achieved
[July 2012] Selected for Track-B in the DARPA Robotics Challenge, CDC paper accepted
[Jun. 2012] Control Lyapunov Function (CLF)-based controller experimentally demonstrated on MABEL.  This opens up the class of stabilizing controllers for hybrid systems with impulse effects to infinitely many.
[Apr. 2012] Received ICRA Travel Award
[Mar. 2012] Invited talk at IIT-Madras, IIT-Bombay
[Feb. 2012] ARK paper accepted, Invited talk at IIT-Hyderabad, BITS Pilani, Hyderabad
[Dec. 2011] ICRA papers (a, b) accepted
[Sep. 2011] My work on MABEL is featured on CNN, ESPN, FOX. Check the Press page for more details.
[Aug. 2011] Ph.inisheD!
MABEL Running Video's: [1] MABEL Runs Free! [2] MABEL Runs in Style
[July 2011] MABEL Runs Free! Steady state running has been attained on MABEL with and without feet using a Nonlinear Compliant Hybrid Zero Dynamics controller with Active Force Control within the HZD.
[June 2011] Accepted Postdoc offer at GRASP Lab at UPenn
[May 2011] Running has been excited on MABEL - Achieved 9 dramatic steps.
[Apr. 2011] MABEL System ID paper has been featured on the cover of IEEE Control System Magazine. 
[Mar. 2011] Research on MABEL has been featured on The Discovery Channel (Watch at 5min 5sec into this clip.)
[Feb. 2011] Book: Adaptive Sampling with Mobile WSN has been published.