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 in the future.
翻译:本文介绍HOPPY,这是一个开放源码、低成本、强健和模块化的机器人教育工具箱。机器人在固定基地的旋转通道上动态跳动。该工具箱旨在降低研究动态机器人的进入屏障,用真实系统来进行脚踏实地的移动。它通过促进和指导软件和硬件集成,将基本机器人课程的理论内容与真正动态机器人连接起来。本文描述了使用该软件包可以研究的专题,列出了其组成部分,讨论了优先实施做法,介绍了与模拟器和真实系统的实验结果,并提出了进一步的改进建议。一个简单的超光速控制器被描述为达到1.7米/秒的速度,导航小物体,并在机器人得到反重量帮助时减轻外部干扰。HOPPY在Urbana-Champaign伊利诺伊利大学的机器人动态与控制课程中,作为为期半年的项目主题,用于在Urbana-Champaign大学的机器人动态与控制课程。该项目的学生和教员对课程期间的实践活动的积极反馈激励我们分享这个工具包并在今后继续改进。