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

Dhaivat Dholakiya; Shounak Bhattacharya; Ajay Gunalan; Abhik Singla; Shalabh Bhatnagar; Bharadwaj Amrutur; Ashitava Ghosal; Shishir Kolathaya

arXiv · 1901.00697

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

Dhaivat Dholakiya·Shounak Bhattacharya·Ajay Gunalan·Abhik Singla·Shalabh Bhatnagar·Bharadwaj Amrutur·Ashitava Ghosal·Shishir Kolathaya

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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.

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Dhaivat Dholakiya, Shounak Bhattacharya, Ajay Gunalan, Abhik Singla, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya. 2019-01-03. Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch. https://arxiv.org/abs/1901.00697

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