Walking robot


  • 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:

  1. 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.
  2. 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

Project Publications


Sashank Tirumala; Sagar Gubbi; Kartik Paigwar; Aditya Sagi; Ashish Joglekar; Shalabh Bhatnagar; Ashitava Ghosal; Bharadwaj Amrutur; Shishir, Kolathaya

Learning Stable Manoeuvres for Quadruped Robots from Expert Demonstrations Conference

29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020.

Abstract | BibTeX | Links:


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

Design, development and experimental realization of a quadrupedal research platform: Stoch Journal Article

arXiv: Computer Science, 2019.

Abstract | BibTeX | Links:


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

Realizing learned quadruped locomotion behaviors through kinematic motion primitives Conference


Abstract | BibTeX | Links:


Ashwin, K P; Ghosal, Ashitava

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.

Abstract | BibTeX | Links:


Menon, Midhun Sreekumar; Ravi, V C; Ghosal, Ashitava

Trajectory planning and obstacle avoidance for hyper-redundant serial robots Journal Article

Journal of Mechanisms and Robotics, 9 (4), pp. 041010:1-8, 2017.

Abstract | BibTeX | Links: