# Stoch BiRo: Design and Control of a low cost bipedal robot

arXiv: https://arxiv.org/abs/2312.06512 · HTML: https://mlsanity.com/paper/2312.06512/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Dec 2023.

## Built on by (most cited first, 2 of 2)

- [BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains](https://mlsanity.com/paper/2407.05424/) (2024)
- [Constrained Reinforcement Learning for Unstable Point-Feet Bipedal Locomotion Applied to the Bolt Robot](https://mlsanity.com/paper/2508.02194/) (2025)

## Abstract (arXiv)

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. 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.