STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education

Abstract

In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation with step-by-step instructions for building a bipedal robotic platform while providing flexible customizations via a modular and durable design. Moreover, a versatile terrain setup and a quantitative disturbance injection system are augmented to the robot platform to replicate natural terrains and push forces that can be used to evaluate legged locomotion in practical and adversarial scenarios. We demonstrate the functionalities of this platform by realizing an adaptive step-to-step dynamics based walking controller to achieve dynamic walking. Our work with the open-soured implementation shows that STRIDE is a highly versatile and durable platform that can be used in research and education to evaluate locomotion algorithms, mechanical designs, and robust and adaptative controls.

Yuhao Huang

MS Student

Yuhao joined the lab in the Fall of 2023 as a MS student.

Yicheng Zeng

MS Student

Yicheng joined the lab in the Fall of 2023 as a MS student.

Xiaobin Xiong 熊晓滨

Assistant Professor

Prof. Xiong is a full-stack roboticist who develop rigorous theories for practical applications.