Stoch-3

A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis

This repository provides resources for the paper:

A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
Aman Singh, Bhavya Giri Goswami, Ketan Nehete, and Shishir Kolathaya
International Conference on Advances in Robotics (AIR), 2025
Video

Stoch 3 robot

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CAD Design Links

Onshape

The CAD models are hosted on Onshape, a cloud-based CAD platform that enables easy sharing and avoids version compatibility issues. To access the files, it is recommended to create an Onshape account.

You can create an Onshape account here: https://www.onshape.com/en/education/sign-up

The CAD files can be accessed using the following links:

1. Actuator design: Link
2. Shank / Calf link design: Link
3. Thigh link design: Link
4. Leg Assembly: Link

GrabCAD

The CAD models are also available on GrabCAD, a widely used platform for sharing mechanical designs with the engineering community. To access the files, it is recommended to create a GrabCAD account. You can create a GrabCAD account here: https://grabcad.com/

The CAD files can be accessed using the following link:

1. Actuator design: Link

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Design of the robot

Robot Dimensions

Robot Dimensions