RI | People | Siddhartha Srinivasa

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Siddhartha Srinivasa Adjunct Faculty (Adjunct) Email address: ss5@andrew.cmu.edu Office: CIC 410 Phone: (412) 297-4068 Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213

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Research interests

I am interested in the dynamics and control of robots interacting forcefully with the world. My long term goal is to make this interaction faster, safer and more robust. I am currently working on the "Physicality Initiative" which focuses on robust manipulation in uncertain environments, and on the "Dynamic Physical Rendering" project where my focus is on the motion planning and distributed control of thousands of modules of a metamorphic robot. My research interests are in manipulation, humanoid walking and balance, robust control, physics-based animation, and distributed control.

This section last updated - August 2006.

Research interest keywords

active perception, computer graphics, control, human motion simulation, humanoid robotics, manipulation, and motion planning

Past Labs & Groups

Manipulation Lab - The Manipulation Laboratory at Carnegie Mellon University investigates fundamental modes of manipulation under uncertainty.

Past Projects

Desktop Robotics - Is it possible to build robots which take the desktop as their task domain?

Recent publications [View all 17 publications]

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [2236 KB] copyrighted

• Control Strategies and Design Guidelines for Planar Latch-Less Metamorphic Robots Based on Analysis of Dynamics
  A. Deshpande, S. Srinivasa, and P. Pillai
  IEEE/RSJ International Conference on Intelligent Robots and Systems, November, 2007. [Abstract]
  Download: pdf [611 KB] copyrighted

• Declarative Programming for Modular Robots
  M. Ashley-Rollman, M. DeRosa, S. Srinivasa, P. Pillai, S.C. Goldstein, and J. Campbell
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Self-Reconfigurable Robots & Systems and Applications, IEEE, November, 2007. [Abstract]
  Download: pdf [872 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]

• Randomized Path Planning for Redundant Manipulators without Inverse Kinematics
  M. Vande Weghe, D. Ferguson, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]
  Download: pdf [7324 KB] copyrighted

• Identifying Trajectory Classes in Dynamic Tasks
  S. Anderson and S. Srinivasa
  International Symposium on Approximate Dynamic Programming and Reinforcement Learning, April, 2007. [Abstract]

• Planar batting under shape, pose, and impact uncertainty
  J. Fu, S. Srinivasa, N. Pollard, and B. Nabbe
  IEEE International Conference on Robotics and Automation (ICRA), April, 2007. [Abstract]
  Download: pdf [571 KB] copyrighted

• Physics-Based Motion Retiming
  J. McCann, N. Pollard, and S. Srinivasa
  Eurographics/ ACM SIGGRAPH Symposium on Computer Animation, September, 2006. [Abstract]
  Download: pdf [4883 KB] copyrighted

• Meet point planning for multirobot coordination
  S. Srinivasa and D. Ferguson
  IEEE International Symposium on Robotics and Automation, IEEE, August, 2006. [Abstract]
  Download: pdf [251 KB] copyrighted

• Hierarchical Motion Planning for Self-reconfigurable Modular Robots
  P. Srinivas Bhat, J. Kuffner, S. Goldstein, and S. Srinivasa
  IEEE International Conference on Intelligent Robots and Systems, 2006, pp. 886 - 891. [Abstract]
  Download: pdf [916 KB] copyrighted