Research & Publications

My research focuses on advancing the capabilities of legged robots through innovative control algorithms, proprioceptive sensing, and adaptive behaviors. I’m passionate about creating robots that can operate reliably in real-world environments without relying on external perception systems.

Research Interests

Legged Locomotion Control

Developing robust control algorithms that enable quadruped robots to traverse complex terrains, including stairs, steep slopes, and unstructured environments. My work emphasizes proprioceptive control - using internal robot sensors rather than cameras or lidar for navigation.

Whole-Body Control & Manipulation

Integrating locomotion and manipulation capabilities to create robots that can perform complex tasks like door opening, object manipulation, and collaborative operations while maintaining dynamic balance.

Recovery & Fault-Tolerant Behaviors

Designing self-righting algorithms and recovery behaviors that allow robots to continue operation after disturbances, falls, or component failures - critical for real-world deployments.

Adaptive Gait Generation

Creating terrain-adaptive locomotion strategies that automatically adjust robot gaits based on ground conditions, slope angles, and environmental challenges.

Publications

Peer-Reviewed Journal Articles

Stability of mina v2 for robot-assisted balance and locomotion C Mummolo, WZ Peng, S Agarwal, R Griffin, PD Neuhaus, JH Kim
Frontiers in Neurorobotics, 2018

Transportable open-source application program interface and user interface for generic humanoids: TOUGH V Jagtap, S Agarwal, A Wagh, M Gennert
International Journal of Advanced Robotic Systems, 2020

Conference Papers

Study of toe joints to enhance locomotion of humanoid robots
S Agarwal, M Popovic
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

Extended State Machines for Robust Robot Performance in Complex Tasks
V Jagtap, S Agarwal, S Nirmal, S Kejriwal, MA Gennert
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

Design and fabrication of twinrotor UAV
S Agarwal, A Mohan, K Kumar
Computer Science & Information Technology (CS & IT), 2013

Mathematical Modeling and Control System Design of Tiltrotor UAV
S Agarwal, A Mohan, K Kumar
International Journal of Scientific & Engineering Research, 2013

Patents

System and method for proprioceptive and responsive robotic door opening
S Agarwal, Avik DE
US Patent WO2025042812A1, 2025

Citation Metrics

  • Total Citations: 93+ (70 since 2020)
  • h-index: 4
  • i10-index: 4
  • Recent Impact: Steady citation growth with increasing recognition in legged robotics community

Professional Service

Editorial & Review Activities

Associate Editor

  • 2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
  • 2026 IEEE International Conference on Robotics & Automation

Technical Program Committee

  • 2025 IEEE International Conference on Advanced Robotics and its Social Impacts

Peer Reviewer (2022-2026)

  • IEEE Transactions on Control Systems Technology (3 papers reviewed)
  • IEEE Robotics and Automation Letters (4 papers reviewed)
  • International Conference on Intelligent Robots and Systems (1 paper reviewed)
  • IEEE Conference on Decision and Control (6 papers reviewed)
  • Modeling, Estimation and Control Conference (2 papers reviewed)
  • ACM Special Interest Group on Computer-Human Interaction (4 papers reviewed)

Professional Recognition

IEEE Senior Member (2023-present)
Recognition for significant contributions to robotics and control systems

Marquis Who’s Who Honored Listee (2024-2029)
Professional recognition for achievements in robotics engineering

Current Research Projects

Proprioceptive Terrain Navigation

Developing algorithms that enable legged robots to navigate complex terrains using only internal sensors - no cameras, lidar, or GPS required. This work has practical applications for military and exploration scenarios where external sensors may be compromised.

Adaptive Manipulation Behaviors

Creating whole-body control frameworks that seamlessly integrate locomotion and manipulation for tasks like door opening, object retrieval, and collaborative operations in unstructured environments.

Multi-Robot Coordination

Investigating coordination strategies for teams of legged robots operating in distributed scenarios, focusing on communication-efficient algorithms and fault-tolerant behaviors.

Collaborations & Impact

My research has direct applications in:

  • Defense Operations: Enabling robots to operate in challenging military environments
  • Search & Rescue: Developing robots capable of navigating disaster zones
  • Industrial Inspection: Creating robots for infrastructure monitoring in hazardous areas
  • Space Exploration: Contributing to next-generation planetary exploration systems

Research Philosophy

I believe the most impactful robotics research bridges the gap between theoretical advances and real-world deployment. My work emphasizes:

  • Robustness: Algorithms that work reliably in unpredictable environments
  • Efficiency: Solutions that run on resource-constrained embedded systems
  • Practicality: Technologies that solve genuine problems for end users
  • Validation: Extensive testing in real-world scenarios, not just simulation

Collaboration Opportunities

I’m actively seeking collaborations in:

  • Academic Partnerships: Joint research projects and publications
  • Industry Consulting: Technical advisory and product development
  • Speaking Engagements: Conferences, workshops, and technical presentations
  • Mentoring: Graduate students and early-career robotics engineers

Ready to push the boundaries of legged robotics together?