Technical Report: Control and Design of an Open-Source Two-Degree-of-Freedom Hopping Robot
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Kodlab
Electrical and Computer Engineering
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Systems Engineering
Electrical and Computer Engineering
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Systems Engineering
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This work was supported by NSF NRI-2.0 grant #1734355.
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Using mechanical design inspired by the Ghost Minitaur and the open-source motor controller hardware from the Stanford Doggo, we built an open-source two-degree-of-freedom hopping robot. The robot hops using a Raibert-inspired reactive controller on the leg length and velocity. This technical report documents the project and provides a guide to others interested in building similar research robots.
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2020-09-01
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@unpublished{tang2020odrive, title={Technical report: {O}{D}rive hopper: control and design of an open-source two-degree-of-freedom hopping robot}, author={Tang, Weiyi and Roberts, Sonia F. and Koditschek, Daniel E.}, note={Technical report} }