Design, Development and Experimental Realization of A Quadrupedal Research Platform: Stoch

Dholakiya, Dhaivat ; Bhattacharya, Shounak ; Gunalan, Ajay ; Singla, Abhik ; Bhatnagar, Shalabh ; Amrutur, Bharadwaj ; Ghosal, Ashitava ; Kolathaya, Shishir (2019) Design, Development and Experimental Realization of A Quadrupedal Research Platform: Stoch In: 5th International Conference on Control, Automation and Robotics (ICCAR), 19-22 April 2019, Beijing, China.

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Official URL: http://doi.org/10.1109/ICCAR.2019.8813480

Related URL: http://dx.doi.org/10.1109/ICCAR.2019.8813480

Abstract

In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the Stoch. Our goal is to realize a robust, modular, and a reliable quadrupedal platform, using which various locomotion behaviors are explored. This platform enables us to explore different research problems in legged locomotion, which use both traditional and learning based techniques. We discuss the merits and limitations of the platform in terms of exploitation of available behaviours, fast rapid prototyping, reproduction and repair. Towards the end, we will demonstrate trotting, bounding behaviors, and preliminary results in turning. In addition, we will also show various gait transitions i.e., trot-to-turn and trot-to-bound behaviors.

Item Type:Conference or Workshop Item (Paper)
Source:Copyright of this article belongs to Institute of Electrical and Electronics Engineers.
Keywords:Quadrupedal Robot; Legged Locomotion; Robot Design.
ID Code:116633
Deposited On:12 Apr 2021 07:15
Last Modified:12 Apr 2021 07:15

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