Publications

Preprints

  1. S. Veer and A. Majumdar, “CoNES: Convex Natural Evolutionary Strategies”.

Journals

  1. S. Veer and I. Poulakakis, “Switched Systems with Multiple Equilibria Under Disturbances: Boundedness and Practical Stability” in IEEE Transactions on Automatic Control, Vol. 65, No. 6, pp. 2371-2386, June 2020.

  2. S. Veer, Rakesh and I. Poulakakis, “Input-to-State Stability of Periodic Orbits of Systems with Impulse Effects via Poincaré Analysis” in IEEE Transactions on Automatic Control, Vol. 64, No. 11, pp. 4583-4598, November 2019.

  3. S. Veer and S. Sujatha, “Approximate Spring Balancing of Linkages to Reduce Actuator Requirements” in Mechanism and Machine Theory, Vol. 86, pp. 108-124, April 2015.

Conferences

  1. S. Veer and A. Majumdar, “Probably Approximately Correct Vision-Based Planning using Motion Primitives” in Proceedings of the Conference on Robot Learning (CoRL), 2020. [Video] [Code] [Talk].

  2. A. Z. Ren, S. Veer and A. Majumdar, “Generalization Guarantees for Multi-Modal Imitation Learning” in Proceedings of the Conference on Robot Learning (CoRL), 2020. [Video] [Code] [Talk].

  3. C. Allen-Blanchette, S. Veer, A. Majumdar, and N. Leonard, “LagNetViP: A Lagrangian Neural Network for Video Frame Prediction” in AAAI Symposium on Physics-guided AI for Accelerating Scientific Discovery, 2020.

  4. P. Chand, S. Veer and I. Poulakakis, “An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020.

  5. S. Veer and I. Poulakakis, “Robustness of Periodic Orbits of Impulsive Systems à la Poincaré” in Proceedings of the IEEE Conference on Decision and Control (CDC), 2019.

  6. S. Kolathaya and S. Veer, “PD based Robust Quadratic Programs for Robotic Systems” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

  7. S. Veer and I. Poulakakis, “Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.

  8. S. Veer and I. Poulakakis, “Practical Stability of Switched Systems With Multiple Equilibria Under Disturbances” in Proceedings of the American Control Conference (ACC), 2019.

  9. S. Veer, M. S. Motahar and I. Poulakakis, “Generation of and Switching among Limit-Cycle Bipedal Walking Gaits” in Proceedings of the IEEE Conference on Decision and Control (CDC), 2017.

  10. S. Veer, M. S. Motahar and I. Poulakakis, “Adaptation of Limit-Cycle Walkers for Collaborative Tasks: A Supervisory Switching Control Approach” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

  11. S. Veer, M. S. Motahar and I. Poulakakis, “Almost Driftless Navigation of 3D Limit-Cycle Walking Bipeds” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

  12. M. S. Motahar, S. Veer and I. Poulakakis, “Steering a 3D Limit-Cycle Biped for Collaboration with a Leader” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

  13. M. S. Motahar, S. Veer and I. Poulakakis, “Composing Limit Cycles for Motion Planning of 3D Bipedal Walkers” in Proceedings of the IEEE Conference on Decision and Control (CDC), 2016

  14. S. Veer, M. S. Motahar and I. Poulakakis, “Local Input-to-State Stability of Dynamic Walking Under Persistent External Excitation using Hybrid Zero Dynamics” in Proceedings of the American Control Conference (ACC), 2016.

  15. M. S. Motahar, S. Veer, J. Huang and I. Poulakakis, “Integrating Dynamic Walking and Arm Impedance Control for Cooperative Transportation” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

  16. S. Veer, M. S. Motahar and I. Poulakakis, “On the Adaptation of Dynamic Walking to Persistent External Forcing using Hybrid Zero Dynamics Control” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

Posters and Presentations

  1. S. Veer (Presenter), M. S. Motahar and I. Poulakakis, “Physical Collaboration between Dynamically Walking Bipedal Robots and Humans,” in Research Day, UD Mechanical Engineering, Newark, Delaware, April 27, 2017. (Won Best Poster Award in Robotics and Controls)

  2. S. Veer (Presenter), M. S. Motahar and I. Poulakakis, “Integration of Dynamic Walking with Arm Impedance Control for Safe Physical Human-Biped Collaboration”, in Workshop: Challenges in Modeling and Control of Small-Scale Robots at Robotics: Science and Systems (RSS), Ann-Arbor, Michigan, June 18-22, 2016.

  3. H. Chaudhari, S. Veer (Presenter) and S. Sujatha, “Design of A Standing Wheelchair”, in Proceedings of the International Society of Prosthetics and Orthotics, World Congress, Hyderabad, India, February 4-7, 2013. (Won the Yeongchi Wu International Education Award)

Patents

  1. M. Rohith, S. Veer, S. Sujatha, Semi-flexion Orthotic Knee, Indian patent 3088\CHE\2013 July 10, 2013. (Pending) (Awarded Sri Chinmay Deodhar Prize) 4091\CHE\2011 November 28, 2011. (Pending)