Aditya Abishai Pedapati

Aditya Abishai Pedapati

MS in Mechatronics and Robotics at NYU

Stair Traversal Exploration Platform

Date:


The goal of the STEP project is to create and optimize a biped capable of intelligent and dynamic locomotion.

I lead the new phase of the stair traversal and exploration platform, focusing on building bipedal robots from the ground up using both 3D printing and machining techniques.


Picture shows the 6 DOF bot which uses carbon fibre (CFRP) links and ABS (3D Printed) links

Previously, I collaborated with the inception team towards the end of their tenure and now oversee this new phase. The team successfully developed 2, 4, 6, and 10 DOF robots (with 8 active and 2 passive degrees of freedom).

Currently, I am spearheading the development of a 12 DOF biped and experimenting with upgrading the existing 6 DOF model to 8 DOF by adding ankle actuation in the pitch direction.

  1. [12 DOF Bi-Ped Design Overview]:

The 12 DOF biped will feature 6 DOF per leg, including:

  • Hip: 3 DOF (yaw, roll, pitch).
  • Knee: 1 DOF (pitch).
  • Ankle: 2 DOF (pitch, roll).


Picture shows the orthographic view of the hip [WIP]


Picture shows the side view of the hip [WIP]

Torso Functionality:

  • The torso will house and secure essential components, including: Battery. Depth camera. Onboard computer. Miscellaneous items.

Manufacturing Techniques:

  • 3D Printing: Chosen for rapid prototyping and quick iteration of designs.
  • Machining: Selected for critical components to ensure durability and longevity.

Topology Optimization:

  • Implementing topology optimization techniques to reduce weight while maintaining structural integrity.
  • Enhancing performance through efficient material distribution in the robot’s design by GD&T and DFMA principles.

Legged Locomotion Controls:

  • Learning and implementing advanced control algorithms for legged locomotion to enable stable and adaptive movement.

Iterative Development Process:

  • Continuous testing and refinement of designs based on performance feedback.


  1. [Experimentation]
    • Experimenting with the existing 6 DOF biped to convert it into an 8 DOF model.
    • Actuating the 4-bar parallel linkage to enhance ankle movement.



Picture shows the experimentation before generative design.


Picture shows the link after subjecting to generative design


Picture shows the second iteration of the concept


Picture shows the side view of the 2nd iteration


Picture shows the bot which was showcased during an event at NYU

Please note that current website is a work in progress. Stay tuned for updates on the project’s progress!

In the meantime, Visit/follow the Project STEP