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Universal Serial Bus (USB) is the de facto protocol supported by peripherals and mobile devices, such as USB thumb drives and smartphones. For many devices, USB Type-C ports are the primary interface for charging, file transfer, audio, video, etc. Accordingly, attackers have exploited different vulnerabilities within USB stacks, compromising host machines via BadUSB attacks or jailbreaking iPhones from USB connections. While there exist fuzzing frameworks dedicated to USB vulnerability discovery, all of them focus on USB host stacks and ignore USB gadget stacks, which enable all the features within modern peripherals and smart devices. In this paper, we propose FUZZUSB, the first fuzzing framework for the USB gadget stack within commodity OS kernels, leveraging static analysis, symbolic execution, and stateful fuzzing. FUZZUSB combines static analysis and symbolic execution to extract internal state machines from USB gadget drivers, and uses them to achieve state-guided fuzzing through multi-channel in- puts. We have implemented FUZZUSB upon the syzkaller kernel fuzzer and applied it to the most recent mainline Linux, Android, and FreeBSD kernels. As a result, we have found 34 previously unknown bugs within the Linux and Android kernels, and opened 7 CVEs. Furthermore, compared to the baseline, FUZZUSB has also demonstrated different improvements, including 3× higher code coverage, 50× improved bug-finding efficiency for Linux USB gadget stacks, 2× higher code coverage for FreeBSD USB gadget stacks, and reproducing known bugs that could not be detected by the baseline fuzzers. We believe FUZZUSB provides developers a powerful tool to thwart USB-related vulnerabilities within modern devices and complete the current USB fuzzing scope.