Technical Report: Control and Design of an Open-Source Two-Degree-of-Freedom Hopping Robot

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. Disciplines Electrical and Computer Engineering | Engineering | Systems Engineering This technical report is available at ScholarlyCommons: https://repository.upenn.edu/ese_papers/870 Technical Report: Control and Design of an Open-Source Two-Degree-of-Freedom Hopping Robot 1st Weiyi Tang Electrical and Systems Engineering University of Pennsylvania Philadelphia, PA 2nd Sonia F. Roberts Electrical and Systems Engineering University of Pennsylvania Philadelphia, PA 3rd Daniel E. Koditschek Electrical and Systems Engineering University of Pennsylvania Philadelphia, PA Abstract—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-offreedom 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.