Pratik Kunapuli

Ph.D. Student, University of Pennsylvania

I’m a doctoral student in Computer and Information Science (CIS) at GRASP at the University of Pennsylvania. I am co-advised by Vijay Kumar and Dinesh Jayaraman, and am grateful to be supported by the NSF as a GRFP Fellow. My research interests lie at the intersection of machine learning and robotics, specifically related to using reinforcement learning for control of agile and dynamic systems as well as transfering learning approaches from simulation to the real world (sim2real).

Previously, I completed both my BSc and MSc at Georgia Institute of Technology in Electrical and Computer Engineering. During my time there, I worked with Aaron Young in the Exoskeleton Prosthetic Intelligent Controls Lab (EPIC Lab) initially developing controllers for a powered knee and ankle prosthetic and eventually applying machine learning-based state estimation to autonomous hip exoskeletons. My work culminated in my Masters thesis, “Online Adaptation of User State Estimation in a Powered Hip Exoskeleton using Machine Learning”.

selected publications

  1. IEEE RAL
    Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion
    Kang, Inseung, Molinaro, Dean D., Duggal, Srijan, Chen, Yanrong, Kunapuli, Pratik, and Young, Aaron J.
    IEEE Robotics and Automation Letters 2021
  2. IEEE TMRB
    Real-Time Neural Network-Based Gait Phase Estimation Using a Robotic Hip Exoskeleton
    Kang, Inseung*, Kunapuli, Pratik*, and Young, Aaron J.
    IEEE Transactions on Medical Robotics and Bionics 2020
  3. ICORR
    Electromyography (EMG) Signal Contributions in Speed and Slope Estimation Using Robotic Exoskeletons
    Kang, Inseung, Kunapuli, Pratik, Hsu, Hsiang, and Young, Aaron J.
    2019
  4. MIL MED
    Impedance Control Strategies for Enhancing Sloped and Level Walking Capabilities for Individuals with Transfemoral Amputation Using a Powered Multi-Joint Prosthesis
    Bhakta, Krishan, Camargo, Jonathan, Kunapuli, Pratik, Childers, Lee, and Young, Aaron
    Military Medicine Dec 2019