{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/design-development-and-experimental","title":"Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch","arxiv_id":"1901.00697","date":"2019-01-03","proceeding":null,"authors":["Dhaivat Dholakiya","Shounak Bhattacharya","Ajay Gunalan","Abhik Singla","Shalabh Bhatnagar","Bharadwaj Amrutur","Ashitava Ghosal","Shishir Kolathaya"],"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.","url_abs":"http://arxiv.org/abs/1901.00697v2","url_pdf":"http://arxiv.org/pdf/1901.00697v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"design-development-and-experimental","repo_url":"https://github.com/beduffy/all-quadrupeds","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"design-development-and-experimental","repo_url":"https://github.com/beduffy/many-quadrupeds","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}