Shubham Singh
2018-2023, Now: Legged Control Software Engineer at Apptronik
I graduated with a Ph.D. in Aerospace Engineering & Engineering Mechanics at the University of Texas at Austin. For my PhD, I was jointly advised by Dr. Ryan Russell (at UT Austin), and Dr. Patrick Wensing at the ROAM lab. I am broadly interested in optimization, planning and control of dynamic legged robots. My research focuses on computing analytical derivatives of Inverse/Forward dynamics for use in optimization algorithms. I used Featherstone's Spatial Vector Algebra to develop recursive algorithms and efficient open-source software in C++, MATLAB and Fortran.
Experience
Legged Controls Software Engineer at Apptronik (2024 - Present)
Gait Control Engineer at Shift Robotics (2023 - 2024)
Education
Ph.D. University of Texas at Austin
M.S. Purdue University
B.Tech. Delhi Technological University
Publication
Journal
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S. Singh, R. P. Russell, & P. M. Wensing, On Second-Order Derivatives of Rigid-Body Dynamics: Theory & Implementation, Conditionally Accepted, IEEE Transactions on Robotics, 2023.
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S. Singh, R. P. Russell, & P. M. Wensing, Efficient Analytical Derivatives of Rigid-Body Dynamics using Spatial Vector Algebra. in IEEE RA-L, vol. 7, no. 2, pp. 1776-1783, April 2022, Honourable Mention for Best Paper IEEE RA-L 2022.
Conference
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S. Singh, R. P. Russell, & P. M. Wensing., Analytical Second-Order Partial Derivatives of Rigid-Body Inverse Dynamics, 2022 IEEE/RSJ IROS, pp. 11781-11788. Finalist for IEEE Model-Based TC Award 2023.
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S. Singh, R. P. Russell, & P. M. Wensing., A Multi-Shooting Differential Dynamic Programming for Hybrid Systems using Analytical Derivatives
Under-Review at 2023 IEEE Humanoids.