Dholakiya, D and Bhattacharya, S and Gunalan, A and Singla, A and Bhatnagar, S and Amrutur, B and Ghosal, A and Kolathaya, S (2019) Design, Development and Experimental Realization of A Quadrupedal Research Platform: Stoch. In: 5th International Conference on Control, Automation and Robotics, ICCAR 2019, 19 - 22 April 2019, Beijing, pp. 229-234.
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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 Paper |
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| Publication: | 2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019 |
| Publisher: | Institute of Electrical and Electronics Engineers Inc. |
| Additional Information: | The copyright for this article belongs to the Authors. |
| Keywords: | Cell proliferation; Robotics; Robots, Experimental realizations; Legged locomotion; Locomotion behavior; Quadruped Robots; Quadrupedal robot; Research platforms; Research problems; Robot designs, Machine design |
| Department/Centre: | Division of Interdisciplinary Sciences > Robert Bosch Centre for Cyber Physical Systems |
| Date Deposited: | 25 Oct 2022 09:47 |
| Last Modified: | 25 Oct 2022 09:47 |
| URI: | https://eprints.iisc.ac.in/id/eprint/77543 |
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