TY - GEN
T1 - HOPPY
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
AU - Ramos, Joao
AU - Ding, Yanran
AU - Sim, Young Woo
AU - Murphy, Kevin
AU - Block, Daniel
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit is intended to lower the entry barrier for studying dynamic robots and legged locomotion with real systems. It bridges the theoretical content of fundamental robotic courses with real dynamic robots by facilitating and guiding the software and hardware integration. This paper describes the topics which can be studied using the kit, lists its components, discusses preferred practices for implementation, presents results from experiments with the simulator and the real system, and suggests further improvements. A simple heuristic-based controller is described to achieve velocities up to 1.7m/s, navigate small objects, and mitigate external disturbances when the robot is aided by a counterweight. HOPPY was utilized as the subject of a semester-long project for the Robot Dynamics and Control course at the University of Illinois at Urbana-Champaign. The positive feedback from the students and instructors about the hands-on activities during the course motivates us to share this kit and continue improving it in the future.
AB - This paper introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit is intended to lower the entry barrier for studying dynamic robots and legged locomotion with real systems. It bridges the theoretical content of fundamental robotic courses with real dynamic robots by facilitating and guiding the software and hardware integration. This paper describes the topics which can be studied using the kit, lists its components, discusses preferred practices for implementation, presents results from experiments with the simulator and the real system, and suggests further improvements. A simple heuristic-based controller is described to achieve velocities up to 1.7m/s, navigate small objects, and mitigate external disturbances when the robot is aided by a counterweight. HOPPY was utilized as the subject of a semester-long project for the Robot Dynamics and Control course at the University of Illinois at Urbana-Champaign. The positive feedback from the students and instructors about the hands-on activities during the course motivates us to share this kit and continue improving it in the future.
UR - http://www.scopus.com/inward/record.url?scp=85124352718&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85124352718&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636108
DO - 10.1109/IROS51168.2021.9636108
M3 - Conference contribution
AN - SCOPUS:85124352718
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4312
EP - 4318
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 27 September 2021 through 1 October 2021
ER -