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I am a Postdoctoral scholar working for AMBER Lab in the California Insitute of Technology. I received my Ph.D. degree in Mechanical Engineering (2016) from the Georgia Institute of Technology, M.S. degree in Electrical Engineering (2012) from Texas A&M University. I received my B.Tech. degree in Electrical Engineering (2008) from the National Institute of Technology Karnataka, Surathkal, India. Prior to pursuing Master’s degree, I worked as a board designer in Tejas Networks Ltd. Bangalore from 2008-2010.
I am interested in stability and control of nonlinear hybrid systems, especially in the domain of legged robots. I have worked with robots like AMBER1, AMBER2, DURUS-2D, and DURUS. I am interested both in theoretical and practical aspects of hybrid robotic systems. In fact, my PhD dissertation was about bridging the gap between theory and experiment by using input-to-state stabilizing control Lyapunov functions (ISS-CLFs).
This was one of my first publications that appeared as a chapter in Springer.
- S. N. Yadukumar Kolathaya and M. Pasupuleti and A. D. Ames. From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots. 2013. Chapter in Algorithmic Foundations of Robotics X: Selected Contributions of the Tenth International Workshop on the Algorithmic Foundations of Robotics, Springer International Publishing, Cham.
This is my most recent publication which is about how to use ISS-CLFs to address the problem of parameter uncertainty in robotic systems.
- S. Kolathaya and A. D. Ames. Parameter to state stability of control Lyapunov functions for hybrid system models of robots. 2016. Nonlinear Analysis: Hybrid Systems.