Papers
115
Total Citations
5,279
H-Index
37
About
Koushil Sreenath is a leading robotics researcher whose work spans bipedal locomotion, safety-critical control, and aerial robotics. Best known for his foundational contributions to dynamic legged locomotion, Sreenath helped pioneer the application of hybrid zero dynamics and Control Lyapunov Functions to achieve stable, energy-efficient bipedal walking and running—most notably through his landmark work on MABEL, a spring-legged bipedal robot that demonstrated how compliance could be harnessed for both efficiency and agility. His 2014 paper on rapidly exponentially stabilizing Control Lyapunov Functions (441 citations) remains a cornerstone reference in nonlinear hybrid systems control. Sreenath has equally shaped the field of safety-critical control, extending Control Barrier Functions to discrete-time systems (288 citations) and integrating them with model predictive control (318 citations) to provide rigorous safety guarantees for robotic platforms. His research on multi-quadrotor cooperative payload transport (232 citations) further demonstrates his breadth across aerial robotics. More recently, he has embraced reinforcement learning to develop robust humanoid locomotion controllers, with real-world deployment results attracting significant community attention (151 citations). Across more than a decade of research, Sreenath's work has consistently bridged rigorous mathematical theory with compelling experimental validation.
Research Focus
Key Achievements
Top Papers
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- 8Real-world humanoid locomotion with reinforcement learning151 citations · 2024
- 9MABEL, a new robotic bipedal walker and runner147 citations · 2009
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