HOPPY：動的ロボティクス教育向けのオープンソース低コストキット
HOPPY: An open-source and low-cost kit for dynamic robotics education
回転ガントリーに固定された脚式ロボットが動的に跳ね回る、教育用のオープンソース低コストキットを開発し、授業での活用と実験結果を報告した論文。
著者: Joao Ramos, Yanran Ding, Young-woo Sim, Kevin Murphy, Daniel Block
分類: cs.RO
原文アブストラクト
This letter 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 lowers the entry barrier for studying dynamic robots and legged locomotion in real systems. The kit bridges the theoretical content of fundamental robotic courses and real dynamic robots by facilitating and guiding the software and hardware integration. This letter describes the topics which can be studied using the kit, lists its components, discusses best practices for implementation, presents results from experiments with the simulator and the real system, and suggests further improvements. A simple controller is described to achieve velocities up to 2m/s, navigate small objects, and mitigate external disturbances (kicks). HOPPY was utilized as the topic of a semester-long project for the Robot Dynamics and Control course at the University of Illinois at Urbana-Champaign. Students provided an overwhelmingly positive feedback from the hands-on activities during the course and the instructors will continue to improve the kit for upcoming semesters.
