REx Hopper: a Monopod Hopper with Reaction Wheels

  Ben Bokser's Portfolio
  • Projects
    • REx Hopper
    • Reaction Wheel Assisted Quadruped Locomotion
    • Spryped
    • SpryDrive
    • Bipedal Robot with Reaction Wheel Stabilization
    • RoboJoey
    • Soft Knee Exoskeleton
    • ASME SDC 2018
    • Hydraulic Robotic Arm
    • ToddlerCane
    • Middleweight Combat Robot
  • Blog
  • Publications
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REx Hopper is my Master's thesis project at Carnegie Mellon University.

It is a reaction wheel-controlled monopodal hopping robot designed to perform highly dynamic leaping maneuvers with inertial reorientation.

​The hopper will serve as a testbed for state-of-the-art control algorithms, including (eventually) contact-implicit MPC with maximal coordinates and variational integration.

Github Repos

C++ Hardware Control and Simulation Stack

​Python Control and Simulation Stack

Power Distribution Board Design

SE(3) Python Simulation with SRB MPC

Point Mass Python Simulation with Point Mass MPC

Symbolic Math in Python for C++ Code Generation

Maximal Coordinates & Variational Integration Julia Simulation

Related Blog Posts
My MS Research Report
My OCRL (CMU 16-745) Final Report
My ARDS (CMU 16-715) Final Report
© 2016-2023 Benjamin Bokser | CC BY-NC 4.0
  • Projects
    • REx Hopper
    • Reaction Wheel Assisted Quadruped Locomotion
    • Spryped
    • SpryDrive
    • Bipedal Robot with Reaction Wheel Stabilization
    • RoboJoey
    • Soft Knee Exoskeleton
    • ASME SDC 2018
    • Hydraulic Robotic Arm
    • ToddlerCane
    • Middleweight Combat Robot
  • Blog
  • Publications
  • About
  • Contact