1 code implementation • 30 Oct 2020 • Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
In particular, the parameters of the end-foot trajectories are shaped via a linear feedback policy that takes the torso orientation and the terrain slope as inputs.
no code implementations • 28 Jul 2020 • Sashank Tirumala, Sagar Gubbi, Kartik Paigwar, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
First, multiple simpler policies are trained to generate trajectories for a discrete set of target velocities and turning radius.
no code implementations • 15 May 2019 • Shounak Bhattacharya, Abhik Singla, Abhimanyu, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya
In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped spined robot Stoch 2.
no code implementations • 9 Oct 2018 • Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya
Leveraging on this underlying structure, we then realize walking in Stoch by a straightforward reconstruction of joint trajectories from kMPs.
