In Review

Aayushi Shrivastava, K. Nagpal, S. Jinkala, J.  Bouvier and N. Mehr. Learning Control Policies to Provably Satisfy Hard Affine Constraints for Black-Box Hybrid Dynamical Systems. Submitted to: Conference on Decision and Control. 2026. [arXiv]

Conference

O. Dosunmu-Ogunbi, Aayushi Shrivastava, J. Grizzle. Demonstrating a Robust Walking Algorithm for Underactuated Bipedal Robots in Non-flat, Non-stationary Environments. International Conference on Intelligent Robots and Systems (IROS) 2024. [arXiv | video]

O. Dosunmu-Ogunbi, Aayushi Shrivastava, G. Gibson, J. Grizzle. Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control. International Conference on Intelligent Robots and Systems (IROS) 2023. [arXiv]

Preprint

O. Dosunmu-Ogunbi, Aayushi Shrivastava. Multi-Terrain Mastery: A Comprehensive Controller for Bipedal Locomotion.