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๐ Hi, Iโm Sriram Krishnamoorthy I am a graduate Mechanical Engineering student at Clemson University, with expertise in robotics and optimal control. My current project involves data-driven control for quadruped locomotion over challenging terrains. This involves trajectory optimization using a global planner and optimal control using a model predictive control. Besides this, I have designed adaptive control algorithms for collaborative manipulation using multiagent systems for drones and ground robots.
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๐ Iโm interested in ...
- Data-driven control
- Motion Planning
- Optimal Control
- Model Predictive Control
- Deep learning
- Reinforcement learning
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Check out my recent projects
- I designed a LTV MPC for quadruped locomotion
- I worked on a density-based motion planner for robots
- I developed a Koopman Autoencoder for learning-based control complex nonlinear systems such as quadruped robots
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๐ฑ Iโm currently learning dual mode MPC and MPPI for quadruped locomotion with safety guarantees
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๐ซ How to reach me ... [email protected] or tweet at me @sriram2502
sriram-2502 / koopman_pathintegral Goto Github PK
View Code? Open in Web Editor NEWThis repo is used to document my progress in computing the principle eigenfunctions of the Koopman operator using path integrals