Departmental Papers (ESE)


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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.

Sponsor Acknowledgements

This work was supported by NSF NRI-2.0 grant #1734355.

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Technical Report

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Bib Tex

@unpublished{tang2020odrive, title={Technical report: {O}{D}rive hopper: control and design of an open-source two-degree-of-freedom hopping robot}, author={Tang, Weiyi and Roberts, Sonia F. and Koditschek, Daniel E.}, note={Technical report} }



Date Posted: 08 September 2020