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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Research

Learning Controllers for Robust Bipedal Locomotion on Challenging Terrains

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.

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Robust Quadrupedal Locomotion on Sloped Terrains

Robust Quadrupedal Locomotion on Sloped Terrains

This paper presents a linear policy approach to achieve walking on sloped terrains

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Stoch 1

Stoch 1

A complete description of the hardware design and control architecture of our custom built quadruped robot, called the Stoch

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Active Spine on Stoch 2

Active Spine on Stoch 2

Learning Active Spine Behaviors for Dynamic and Efficient Locomotion

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Trajectory Optimization on Stoch 2

Trajectory Optimization on Stoch 2

Trajectory based Deep Policy Search for Quadrupedal Walking

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Augmented Random Search (RL Algorithm)

Augmented Random Search (RL Algorithm)

Reinforcement Learning using ARS (Augmented random Search)to generate Gaits

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People

Faculty

PhD Students

Manan Tayal
RBCCPS, IISc
Pramod Pal
Pramod Pal
ME, IISc

Staff

Aditya Sagi
Aditya Sagi
Technical Consultant
Himanshu Lodha H
Himanshu Lodha
Project Assistant
Aman Singh A
Aman Singh
IIT, Roorkee
Bhavya Giri Goswami B
Bhavya Giri Goswami
IIT, Roorkee

Visiting Students

Ketan Nehete K
Ketan Nehete
VIT

Masters Students

Phani Madhusudhan Thontepu AI, IISc
Sangeet M AI, IISc
Sarang Kadam Krishnrao RAS, IISc
Ankit Pandita AI, IISc
Palaparthi Govindu CSA, IISc
Devaraju Vinoda CSA, IISc
Naman Saxena CSA, IISc
Abhishek Ranjan CSA, IISc

Interns

Somnath Sendhil Kumar IIT BHU
Utkarsh Mishra IIT Roorkee
Aditya Shirwatkar VNIT
Lokesh Krishna B.Tech., IIT BHU

Alumni

Yogita Choudhary IIT BHU
Soumya Rani CSA, IISc
Sashank Tirumala Grad Student, CMU
Tejas Rane B.E. BITS, Pilani, Goa
Avinash Bhashkar M.Tech., Centre for advanced studies, Lucknow
Dhaivat Dholakiya Grad Student, ASU
Abhik Singla Grad Student, UMass
Shounak Bhattacharya Research Engineer, NUS
Abhimanyu Grad Student, CMU
Ajay Gunalan Research Fellow, IIT, Italy