The official Code for the paper "Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)"

Papers on Safety Critical Controls using Control Barrier Functions

My Website

The official repository for Paper "Learning a Formally Verified Control Barrier Function in Stochastic Environment"

Some Must Read Papers on Optimal Controls of Bipedal Robots

Config files for my GitHub profile.

Tutorial on how to get started with MuJoCo Simulation Platform. MuJoCo stands for Multi-Joint dynamics with Contact. It was acquired and made freely available by DeepMind in October 2021, and open …

This is a quadruped simulated on pybullet physics engine, walking using trot and bound mechanisms

The algorithm is based on the method of task decomposition. The first task of the end-effector is to follow a predefined path. The second task is to avoid two obstacles in the cartesian space by ma…

Model Predictive Control for Quadruped Robots in Pybullet

Comparison between use of arms and w/o it using MPC

A List of all my Projects and Competitions

Blogs Related to Robotics

Tutorial for Pybullet

Repository of implementation of few algorithms for Under-actuated Systems in Robotics and solutions to some interesting problems

These were the files for line following bot competition conducted by Electronics Robotics Club of IIT Bombay in 2018

Creating Bezier curves in Python

Robotics Bootcamp

Code for Offline Reinforcement Learning Using Implicit Q Learning

ME 604- Robotics Project (IIT Bombay) Kuka Robot

Trajectory Optimisation for Starship Landing

ME 6102 Design of Mechatronic Systems Project (IIT Bombay) Force Controlled Compliant Gripper

Analysis of Inverted Pendulum

This is a Biped simulated on pybullet physics engine, walking

Repository containing the code for the paper "Safe Model-Based Reinforcement Learning using Robust Control Barrier Functions". Specifically, an implementation of SAC + Robust Control Barrier Functi…

This Repository Contains all the Assignments submitted in E1 213 Course Pattern Recognition and Neural Networks (Indian Institute of Science)

A web application based on ML model for prediction of disease based on the symptoms provided by the scans, X -rays and other medical data.