STriDER (Self-excited Tripedal Dynamic Experimental Robot) is a novel three-legged walking machine that exploits the concept of actuated passive dynamic locomotion to walk with high energy efficiency and minimal control. It is inherently stable with its tripod stance and can change directions. We present the concept of the tripedal gait, direction changing strategy, mechanical design, dynamic simulation, and a simple experiment of a single tripedal gait.
