- Bharadwaj Amrutur (RBCCPS/Electrical Communication Engineering)
- Shalabh Bhatnagar (RBCCPS/Computer Science and Automation)
- Ashitava Ghosal (Mechanical Engineering)
- Shishir N. Y. Kolathaya (RBCCPS)
RBCCPS has a custom built four legged robot (quadruped) called “Stoch”. The main goal is to explore deep-reinforcement learning algorithms to achieve a wide variety of walking behaviours. The quadruped must be able to plan and navigate over a diverse set of environments like flat plains, undulating and slippery surfaces, and also muddy terrains. Besides walking, we are also interested in exploring applications like:
- The quadruped must use vision, inertial measurements and other sensory information to read its surroundings, and then plan and execute its motion to a designated point.
- A traditional arm mechanism attached to the quadruped must be able to pick and place movable objects from one point to another.
STOCH in action
Design, development and experimental realization of a quadrupedal research platform: Stoch Journal Article
arXiv: Computer Science, 2019.
Mathematical model for pressure–deformation relationship of miniaturized McKibben actuators Conference
Proceedings of the 3rd International and 18th National Conference on Machines and Mechanisms (iNaCoMM), 13.-15.12.17, Mumbai, 2018.
Realizing learned quadruped locomotion behaviors through kinematic motion primitives Journal Article
arXiv: Computer Science, 2018.
Trajectory planning and obstacle avoidance for hyper-redundant serial robots Journal Article
Journal of Mechanisms and Robotics, 9 (4), pp. 041010:1-8, 2017.