P. Murali Krishna

Indian Institute of Technology Hyderabad, Defence Research and Development Organisation

Papers

Total Citations

H-Index

About

P. Murali Krishna is a robotics researcher whose work focuses on the energetics and control of legged locomotion, particularly in quadruped and bipedal robots. His research addresses fundamental challenges in robot gait design, including energy efficiency, stability, and adaptive control. In his most cited work, "Energetics of level walking trot gaits in quadruped robots" (2012, 3 citations), Krishna investigates how asymmetric body-mass distribution affects the specific resistance of trotting gaits, analyzing both constant-speed and variable-speed scenarios. His follow-up paper, "Level Trot Gait in Quadruped Robots" (2013, 2 citations), identifies conditions for constant-height trotting and demonstrates that minimum-norm actuator force solutions naturally produce deceleration-acceleration patterns. More recently, Krishna has explored machine learning approaches to locomotion, as shown in "Walking of Prismatic Knee Biped Robot Using Reinforcement Learning" (2023, 2 citations), where he develops an RL framework for a 6DOF planar biped with a novel prismatic knee joint that enables terrain adaptation and dynamic stability. While his citation counts are modest, Krishna's work contributes to the foundational understanding of energy-optimal gaits and adaptive control strategies for legged robots, bridging classical dynamics with modern reinforcement learning techniques.