Apoorv Shrivastava
Papers
1
Total Citations
26
H-Index
1
About
Apoorv Shrivastava is a robotics researcher whose work focuses on the dynamic control and planning of bipedal locomotion, particularly for humanoid robots navigating complex environments. His key research areas include whole-body control, centroidal dynamics, and real-time motion planning for legged systems. Shrivastava’s major contribution is the development of a reference trajectory generator that incorporates predicted centroidal angular momentum during the planning stage—a critical advancement for high-speed bipedal walking. His most-cited paper, "Inclusion of Angular Momentum During Planning for Capture Point Based Walking" (2018, 26 citations), addresses the often-overlooked angular momentum generated by swing legs at speed, enabling more stable and efficient gaits. This work bridges the gap between simplified walking models and full-body dynamics, offering a computationally efficient solution that has influenced subsequent research in humanoid locomotion. Shrivastava’s achievements demonstrate a deep understanding of the interplay between planning and control, making his contributions valuable for students and researchers aiming to push the boundaries of bipedal robotics.
Research Focus
Key Achievements
Top Papers
- 1