四足研究平台Stoch的设计、开发与实验实现
Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch
摘要：
在本文中，我们提出了一个完整的描述，我们定制的四足机器人的硬件设计和控制体系结构，被称为“Stoch”。我们的目标是实现一个强大的，模块化的，可靠的四足平台，使用它探索各种运动行为。这个平台使我们能够探索不同的研究问题，在腿运动，使用传统的和基于学习的技术。我们讨论的优点和局限性的平台，在利用现有的行为，快速快速原型，复制和修复。最后，我们将展示小跑，跳跃行为，以及转弯的初步结果。此外，我们还将展示各种步态转换，即，小跑转向和小跑束缚行为。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
