Siddhartha Srinivasa
Associate ProfessorThe Robotics Institute
Carnegie Mellon University
Administrative Assistant: Jean Harpley
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Siddhartha SrinivasaAssociate ProfessorThe Robotics Institute Carnegie Mellon University Administrative Assistant: Jean Harpley |
I am interested in the dynamics and control of robots interacting with the world. My long term goal is to make this interaction faster, safer, more robust and with simpler actuation. I founded and direct the Personal Robotics Lab, co-direct the Manipulation Lab, and lead the HERB effort of the QoLTbots systems area and the Mobile Manipulation effort of the Mobility and Manipulation Thrust at the Quality of Life Technologies NSF ERC.
My main research focus is on Manipulation Planning: extending randomized planners to constraint manifolds, functional gradient optimization with CHOMP, and leveraging the mechanics of manipulation for planning under uncertainty. I am also interested in Perception for Manipulation: my group has developed MOPED: an efficient object recognition and pose estimation system for manipulation. Matt Mason and I were recently awarded an NSF grant to explore the design and algorithms for Simple but General Robot Hands. I have just recently begun working on Human-Robot Interaction, in particular on the problem of Collaborative Manipulation.
I received a B.Tech in Mechanical Engineering from the Indian Institute of Technology Madras in 1999, where I worked with Roddam Narasimha on applying wavelet transforms to Navier-Stokes equations to detect coherent structures in jet flow. I recieved my MS in 2001 and PhD in 2005 from the Robotics Institute at Carnegie Mellon University, where I worked with Mike Erdmann and Matt Mason at the Manipulation Lab. For my MS thesis, I built the Mobipulator, a desktop manipulator that used its wheels to manipulate everyday objects. For my PhD thesis, I built robust controllers for dynamic manipulation under Coulomb friction. After graduating, I was a Senior Research Scientist at Intel Labs Pittsburgh from 2006-11 where I started and led Intel's research efforts in robotics. I founded the Personal Robotics Lab(PRL) in 2006 where my students and I are developing perception, planning, and learning algorithms that enable robots to accomplish useful manipulation tasks in dynamic and cluttered indoor environments. I joined the faculty at the Robotics Institute in June 2011.