Books

  1. 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

Journals

  1. 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
  2. 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
  3. Identification of a bipedal robot with a compliant drivetrain: Parameter estimation for control design. Hae-Won Park, Koushil Sreenath, Jonathan Hurst, and Jessy W. Grizzle. IEEE Control Systems Magazine (CSM), 31(2):63–88, April 2011. Details | pdf
  4. Avoiding shared resource conflicts in mobile sensor networks with multiple missions. Koushil Sreenath, Vincenzo Giordano, and Frank L. Lewis. IET Control Theory & Applications (CTA), 1(3):665–674, May 2007. Details | pdf
  5. Simultaneous adaptive localization of a wireless sensor network. Koushil Sreenath, Frank L. Lewis, and Dan O. Popa. ACM SIGMOBILE Mobile Computing and Communications Review (M2CR), 11(2):14–28, April 2007. Details | pdf

Journals  (in Review)

  1. 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

Conferences

  1. Avian-inspired grasping for quadrotor micro uavs. Justin Thomas, Joe Polin, Koushil Sreenath, and Vijay Kumar. In ASME International Design Engineering Technical Conference (IDETC), to appear, 2013. Details | pdf
  2. Trajectory generation and control of a quadrotor with a cable-suspended load – a differentially-flat hybrid system. Koushil Sreenath, Nathan Michael, and Vijay Kumar. In IEEE International Conference on Robotics and Automation (ICRA), to appear, 2013. Details | pdf
  3. A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations. Koushil Sreenath, Connie R. Hill, and Vijay Kumar. In Hybrid Systems: Computation and Control (HSCC), pages 137–142, Philadelphia, PA, April 2013. Details | pdf
  4. Optimal trajectory generation under homology class constraints. Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, and Vijay Kumar. In IEEE Conference on Decision and Control (CDC), pages 3157–3164, Maui, HI, December 2012. Details | pdf
  5. Trajectory planning for systems with homotopy class constraints. Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya, and Vijay Kumar. In Latest Advances in Robot Kinematics (ARK), pages 83–90, Innsbruck, Austria, June 2012. Springer, Netherlands. Details | pdf
  6. Switching control design for accommodating large step-down disturbances in bipedal robot walking. Hae-Won Park, Koushil Sreenath, Alireza Ramezani, and Jessy W. Grizzle. In IEEE International Conference on Robotics and Automation (ICRA), pages 45–50, Saint Paul, MN, May 2012. Details | pdf
  7. Design and experimental implementation of a compliant hybrid zero dynamics controller with active force control for running on MABEL. Koushil Sreenath, Hae-Won Park, and Jessy W. Grizzle. In IEEE International Conference on Robotics and Automation (ICRA), pages 51–56, Saint Paul, MN, May 2012. Details | pdf
  8. Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. In IEEE Conference on Decision and Control (CDC), pages 280–287, Atlanta, GA, USA, December 2010. Details | pdf
  9. Real world issues with real-time control of MABEL: A platform for experimental control of bipedal locomotion. Jeffrey Koncsol, Hae-Won Park, and Koushil Sreenath. In IEEE-RAS International Conference on Humanoid Robots (Humanoids), pages 659–664, Nashville, TN, USA, December 2010. Details | pdf
  10. MABEL, a new robotic bipedal walker and runner. Jessy W. Grizzle, Jonathan Hurst, Benjamin Morris, Hae-Won Park, and Koushil Sreenath. In American Control Conference (ACC), pages 2030–2036, St. Louis, MO, USA, June 2009. Details | pdf
  11. Deadlock avoidance for free choice multi-reentrant flow lines: Critical siphons & critical subsystems. Prasanna Ballal, Frank L. Lewis, Jose Mireles, Jr., and Koushil Sreenath. In IEEE Mediterranean Conference on Control and Automation (MED), pages 1–8, Athens, Greece, June 2007. Details | pdf
  12. Localization of a wireless sensor network with unattended ground sensors and some mobile robots. Koushil Sreenath, Frank L. Lewis, and Dan O. Popa. In IEEE International Conference on Robotics, Automation, and Mechatronics (RAM), pages 1–8, Bangkok, Thailand, December 2006. This paper won the IEEE RAM Conf. Best Paper Award 2006. Details | pdf
  13. Robotic deployment for environmental sampling applications. Dan O. Popa, Koushil Sreenath, and Frank L. Lewis. In IEEE International Conference on Control and Automation (ICCA), volume 1, pages 197–202, Budapest, Hungary, June 2005. Details | pdf

Conferences (in Review)

  1. 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
  2. Geometric control of cooperating multiple quadrotor UAVs with a suspended payload. Taeyoung Lee, Koushil Sreenath, and Vijay Kumar. In IEEE Conference on Decision and Control (CDC), submitted, 2013. Details | pdf
  3. Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots. Koushil Sreenath and Vijay Kumar. In Robotics: Science and Systems (RSS), submitted, 2013. Details | pdf

Theses

  1. Feedback Control of a Bipedal Walker and Runner with Compliance. Koushil Sreenath. PhD thesis, The University of Michigan, Ann Arbor, MI, August 2011. Details | pdf
  2. Adaptive sampling using mobile WSN. Koushil Sreenath. Master's thesis, University of Texas at Arlington, Arlington, TX, USA, December 2005. Details | pdf

Invention Disclosure

  1. Fully integrated automated test apparatus for measuring material conductivity under controlled atmosphere. Koushil Sreenath, Xiang-Dong He, Yi Jiang, and Warren Gleason. Invention Disclosure, Saint-Gobain Northboro R&D Center, April 2007.

Technical Reports

  1. Identification and dynamic model of a bipedal robot with a cable-differential-based compliant drivetrain. Hae-Won Park, Koushil Sreenath, Jonathan W. Hurst, and Jessy W. Grizzle. Technical Report CGR 10-06, University of Michigan Control Group, 2010.
  2. Multiple sample seebeck and resistivity test automation. Koushil Sreenath. Technical Report TM-2006-991, Saint-Gobain Northboro R&D Center, Northboro, MA, USA, 2006.
  3. Furnace control automation. Koushil Sreenath. Technical Report TM-2006-1078, Saint-Gobain Northboro R&D Center, Northboro, MA, USA, 2006.
  4. Design and implementation of data acquisition hardware and interface for the controlled oxygen SOFC test station system. Koushil Sreenath and Xiang-Dong He. Technical Report TM-2006-937, Saint-Gobain Northboro R&D Center, Northboro, MA, USA, 2006.

Posters

  1. Nonlinear feedback control to achieve running on MABEL. Koushil Sreenath and Jessy W. Grizzle. Engineering Graduate Symposium, The University of Michigan, Ann Arbor, November 2010. This poster won the Technical Session Award.
  2. Hybrid zero dynamics based control design for efficient walking. Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis, and Jessy W. Grizzle. Dynamic Walking Conference, MIT, July 2010.
  3. System identification and modeling for MABEL, a bipedal robot with a cable-differential-based compliant drivetrain. Hae-Won Park, Koushil Sreenath, Jonathan W. Hurst, and Jessy W. Grizzle. Dynamic Walking Conference, MIT, July 2010.
  4. Nonlinear feedback control of a novel robotic bipedal walker. Koushil Sreenath, Hae-Won Park, and Jessy W. Grizzle. Engineering Graduate Symposium, The University of Michigan, Ann Arbor, November 2009.
  5. Parameter identification of MABEL, a new bipedal robot with differential-based compliant drivetrain. Hae-Won Park, Koushil Sreenath, and Jessy W. Grizzle. Engineering Graduate Symposium, The University of Michigan, Ann Arbor, November 2009. This poster won the second prize.
  6. Adaptive sampling algorithms for field estimation using mobile robotic sensors. Koushil Sreenath and Muhammad F. Mysorewala. ARRI Tech Fest, University of Texas, Arlington, September 2005.