Tang, Weiyi

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  • Publication
    Technical Report: Control and Design of an Open-Source Two-Degree-of-Freedom Hopping Robot
    (2020-09-01) Tang, Weiyi; Roberts, Sonia F.; Koditschek, Daniel E
    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.