Tang, WeiyiRoberts, Sonia F.Koditschek, Daniel E2023-05-222023-05-222020-09-012020-09-04https://repository.upenn.edu/handle/20.500.14332/34118Using 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.flash_audioKodlabElectrical and Computer EngineeringEngineeringSystems EngineeringReport