6 citations · 11 across the 7 of their papers we have counts for
8 papers
Energy-Efficient Quadruped Locomotion with Compliant Feet
Pramod Pal, Shishir Kolathaya, Ashitava Ghosal
Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability…
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala +7
In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch…
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations
Sashank Tirumala, Sagar Gubbi, Kartik Paigwar +6
With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key pr…
3D printed cable-driven continuum robots with generally routed cables: modeling and experiments
Soumya Kanti Mahapatra, Ashwin K. P., Ashitava Ghosal
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot…
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…