18 citations · 59 across the 19 of their papers we have counts for
3 papers · 1 filter
Gait Library Synthesis for Quadruped Robots via Augmented Random Search
Sashank Tirumala, Aditya Sagi, Kartik Paigwar +5
In this paper, with a view toward fast deployment of learned locomotion gaits in low-cost hardware, we generate a library of walking trajectories, namely, forward trot, backward tr…
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots
Shounak Bhattacharya, Abhik Singla, Abhimanyu +5
In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped…
Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch
Dhaivat Dholakiya, Shounak Bhattacharya, Ajay Gunalan +5
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 r…