Well Stride got this upgrade a while ago but I just didn’t make a post about it.

Stride is now a wheeled humanoid!

I first developed with the quick, printed, direct-drive arms while I figured out what geometry and motor requirements would be reasonable.

The arm controls are a combination of joint space PD and task space impedance control depending on the task.

The balance controller was retuned for the mid-height and the endpoints were scaled to match the arm-less balance controller.

Printed Arm Development Tests:

I then went and built the high-performance, final arms using the Xioami Cybergear actuators.

The lower arms are made of carbon fiber tube with printed inserts epoxied in for easy bolting and unbolting. The hands are TPU for some compliance.

The final robot