Research Projects
Robust Quadrupedal Locomotion on Sloped Terrains
This paper presents a linear policy approach to achieve walking on sloped terrains
Stoch 1
A complete description of the hardware design and control architecture of our custom built quadruped robot, called the Stoch
Active Spine on Stoch 2
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion
Trajectory Optimization on Stoch 2
Trajectory based Deep Policy Search for Quadrupedal Walking
Augmented Random Search (RL Algorithm)
Reinforcement Learning using ARS (Augmented random Search)to generate Gaits