We are a team of legged robot enthusiasts based out of Indian Institute of Science, Bengaluru. We are mainly interested in advanced mobility in extremely challenging terrains. The team consists of technical staff members, students, interns and faculty with varying backgrounds and interests.
News
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June 30, 2021
Our recent work titled “Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes” has been accepted to 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic. (IROS 2021).
- November 16, 2020
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October 29, 2020
Welcome to the new website for the Stoch Lab!
Research
Learning Controllers for Robust Bipedal Locomotion on Challenging Terrains
A framework for sythesizing controllers to achieve blind bipedal walking on challenging terrains thorugh learnt linear policies.
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
People
Faculty
Shishir Kolathaya (HEAD)
Bharadwaj Amrutur
Shalabh Bhatnagar
Ashitava Ghosal
PhD Students
Staff
