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.

翻译：本文介绍STRIDE，一个简单、地面型、可重构、智能、动态且教育导向的双足平台。STRIDE旨在通过提供具有成本效益的实现方案、包含构建双足机器人平台的逐步指导，并借助模块化与耐用的设计提供灵活的定制选项，从而推动双足机器人研究与教育的发展。此外，该机器人平台还配备了多功能地形模拟装置和定量扰动注入系统，用以复现自然地形与推力，从而可在实际场景与对抗性场景中评估腿式运动能力。我们通过实现一种基于自适应步间动力学的行走控制器以实现动态行走，展示了该平台的功能。我们的开源实现工作表明，STRIDE是一个高度通用且耐用的平台，可用于研究与教育中，以评估运动算法、机械设计以及鲁棒自适应控制方法。