  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.
