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

arXiv: https://arxiv.org/abs/1901.00697 · HTML: https://mlsanity.com/paper/1901.00697/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Jan 2019.

## Built on by (most cited first, 1 of 1)

- [Imitation Learning for High Precision Peg-in-Hole Tasks](https://mlsanity.com/paper/2101.01052/) (2020)

## Abstract (arXiv)

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.