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
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
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