# Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch

## TL;DR

This paper details the design, development, and experimental validation of a modular quadruped robot platform called 'Stoch', enabling research in diverse locomotion behaviors using traditional and learning-based methods.

## Contribution

It introduces a robust, modular quadruped platform with comprehensive hardware and control architecture, facilitating rapid prototyping and exploration of various gait behaviors.

## Key findings

- Demonstrated trotting, bounding, and turning behaviors.
- Showcased gait transitions like trot-to-turn and trot-to-bound.
- Validated platform's robustness and versatility for legged locomotion research.

## Abstract

In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the `Stoch'. Our goal is to realize a robust, modular, and a reliable quadrupedal platform, using which various locomotion behaviors are explored. This platform enables us to explore different research problems in legged locomotion, which use both traditional and learning based techniques. We discuss the merits and limitations of the platform in terms of exploitation of available behaviours, fast rapid prototyping, reproduction and repair. Towards the end, we will demonstrate trotting, bounding behaviors, and preliminary results in turning. In addition, we will also show various gait transitions i.e., trot-to-turn and trot-to-bound behaviors.