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.
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
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