sriram-2502 / safe-control-gym Goto Github PK

👋 Hi, I’m 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.

👀 I’m interested in ...

• Data-driven control
• Motion Planning
• Optimal Control
• Model Predictive Control
• Deep learning
• Reinforcement learning

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

🌱 I’m currently learning dual mode MPC and MPPI for quadruped locomotion with safety guarantees

📫 How to reach me ... [email protected] or tweet at me @sriram2502