BRIDGE: An Open-Source Humanoid Platform via Morphology–Control Co-Design for Physical AI

Submitted to CoRL 2026

BRIDGE is an open-source, 80 cm humanoid platform that couples morphology design with whole-body control. The framework jointly considers anatomical constraints, kinematic retargeting quality, and closed-loop dynamic tracking to better preserve human motion in real-world execution.

Highlights

• Data-Driven Co-Design: A three-stage pipeline combines anatomical constraints, kinematic criteria, and closed-loop dynamic criteria.

• Open Humanoid Platform: 80 cm tall, 12.5 kg, 21 active DoFs, open code and design, with a reported platform cost of approximately $1.5K.

• Hardware Validation: Real-world demonstrations span foundational locomotion, robust balance, and highly dynamic whole-body motion.

Demo Videos

The hardware demonstrations below follow the three capability domains reported in the paper: foundational locomotion, balance-oriented motion, and highly dynamic whole-body motion.

Foundational Locomotion

Whole-body teleoperation and locomotion demonstrations on the physical BRIDGE platform. Both the complete session and a one-minute excerpt are provided for detailed viewing and quick preview.

Balance-Oriented Motion

Extreme balance, bending, bend-and-twist, and lunging demonstrate support-aware whole-body motion on the physical platform.

Highly Dynamic Motion

Expressive whole-body sequences and back-flip motion highlight the platform's dynamic agility and motion-tracking capability.