Sushant Veer
Princeton University, University of Delaware, Nvidia (United States)
Papers
22
Total Citations
213
H-Index
7
About
Sushant Veer is a leading researcher in the control and adaptation of dynamic legged locomotion, with a focus on bipedal and quadrupedal robots operating under physical interaction and environmental disturbances. His work bridges robust nonlinear control theory and practical robotic collaboration, addressing how walking machines can maintain stability while adapting to external forces from humans, other robots, or moving surfaces. Veer’s most cited paper (52 citations) establishes foundational results on boundedness and practical stability for switched systems with multiple equilibria under disturbances, proving that input-to-state stability can be preserved under average dwell-time switching. He has also pioneered methods for online gait adaptation in limit-cycle walkers using supervisory switching control and dynamic movement primitives, enabling collaborative tasks like cooperative transportation without explicit leader intent. His work on steering 3D bipeds through obstacle fields and integrating arm impedance with dynamic walking has advanced human-robot interaction. Recent contributions include analytical solutions for legged locomotion on vertically oscillating surfaces, with applications to quadrupedal walking. With over 150 total citations, Veer’s research is widely recognized for its theoretical rigor and practical relevance to next-generation collaborative robots.
Research Focus
Key Achievements
Top Papers
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- 4Almost driftless navigation of 3D limit-cycle walking bipeds18 citations · 2017
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- 6Steering a 3D limit-cycle walker for collaboration with a leader9 citations · 2017
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- 9PD based Robust Quadratic Programs for Robotic Systems6 citations · 2019
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