Research Projects

Robust Quadrupedal Locomotion on Sloped Terrains

Robust Quadrupedal Locomotion on Sloped Terrains

This paper presents a linear policy approach to achieve walking on sloped terrains

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Stoch 1

Stoch 1

A complete description of the hardware design and control architecture of our custom built quadruped robot, called the Stoch

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Active Spine on Stoch 2

Active Spine on Stoch 2

Learning Active Spine Behaviors for Dynamic and Efficient Locomotion

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Trajectory Optimization on Stoch 2

Trajectory Optimization on Stoch 2

Trajectory based Deep Policy Search for Quadrupedal Walking

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Augmented Random Search (RL Algorithm)

Augmented Random Search (RL Algorithm)

Reinforcement Learning using ARS (Augmented random Search)to generate Gaits

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