Changes in Projects (#18)

* Made some projects inactive

* StochBiRo changes

Author: tayalmanan28

_projects/Augmented Random Search.md

@@ -17,6 +17,7 @@ people:
 layout: project
 image: "/img/3-Figure3-1.png"
 last-updated: 2020-10-08
+status: inactive
 ---
 ### Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations 
 With the research into development of quadruped

_projects/AverageRewardRL.md

@@ -12,6 +12,7 @@ people:
 layout: project
 image: "/img/AverageRL/flow_diagram.png"
 last-updated: 2023-08-05
+status: inactive
 ---
 
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_projects/DynamicMirrorDescentRL.md

@@ -11,6 +11,7 @@ people:
 layout: project
 image: "/img/DeMoRL/all_combined.gif"
 last-updated: 2022-01-31
+status: inactive
 ---
 
 <br>

_projects/LinearPolicyBiped.md

@@ -11,6 +11,7 @@ people:
 layout: project
 image: "/img/linearPolicySuff/all_combined.gif"
 last-updated: 2021-08-07
+status: inactive
 ---
 
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_projects/StochBiRo.md

@@ -6,17 +6,17 @@ description: |
   
 people:
   - manan
+  - mothish
   - karthikraj
   - ravikola
-  - mothish
+ 
 
 layout: project
-image: "/img/dridh.png"
+image: "/img/StochBiRo.png"
 last-updated: 2023-12-01
 ---
 ### Abstract 
-In this paper, we present a complete description of the hardware design and control architecture of our custom built bipedal robot, called the Stoch BiRo. Our goal is to realize a robust, modular, and a reliable Bipedal platform, using which various locomotion behaviors are explored.
-
+This paper introduces the Stoch BiRo, a cost-effective bipedal robot designed with a modular mechanical structure having point feet to navigate uneven and unfamiliar terrains. The robot employs proprioceptive actuation in abduction, hips, and knees, leveraging a Raspberry Pi4 for control. Overcoming computational limitations, a Learning-based Linear Policy controller manages balance and locomotion with only 3 degrees of freedom (DoF) per leg, distinct from the typical 5DoF in bipedal systems. Integrated within a modular control architecture, these controllers enable autonomous handling of unforeseen terrain disturbances without external sensors or prior environment knowledge. Demonstrating efficiency through low Cost of Transport (CoT) across varying walking speeds and blind stair climbing, the robot's policies are trained and simulated using MuJoCo, transferring learned behaviors to the Stoch BiRo hardware for initial walking validations. This work highlights the Stoch BiRo's adaptability and cost-effectiveness in mechanical design, control strategies, and autonomous navigation, promising diverse applications in real-world robotics scenarios.
 
 ### Design and Development of Stoch BiRo
 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.

_projects/Trajectoryopt.md

@@ -20,6 +20,7 @@ people:
 layout: project
 image: "/img/Trajopt.png"
 last-updated: 2020-10-08
+status: inactive
 --- 
 In this paper, we explore a specific form of
 deep reinforcement learning (D-RL) technique for quadrupedal

_projects/slope.md

@@ -17,6 +17,7 @@ people:
 layout: project
 image: "/img/CORL.gif"
 last-updated: 2020-10-15
+status: inactive
 ---
 
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_projects/spine.md

@@ -17,6 +17,7 @@ people:
 layout: project
 image: "/img/spine.jpg"
 last-updated: 2020-10-08
+status: inactive
 ---
 ### Learning Active Spine Behaviors 
 In this work, we provide a simulation framework