RoboJoey is a vertically constrained monopod hopper designed for 24-775: Robot Design and Experimentation at Carnegie Mellon University. The proposed research aims to observe the relationship between tendon length and energy efficiency in legged robots. The robot is  designed with a modular tendon mechanism which allows for adjustment of tendon length. The robot will consecutively jump to a specified height with the use of inverse dynamics and kinematics. Energy efficiency of the robot will be recorded for different tendon lengths and configurations.

Group Members:

• Benjamin Bokser (Mechanical Design Lead and Fabrication)
  • I led the overall mechanical design of the robot. I also worked on fabrication, assembly, and testing. 
• Joseph Wood (Mechanical Design, Fabrication, and First Order Simulation)
  • Joey designed the tendon mechanism and the vertical jig. He also used Simulink to estimate the tendon forces and other parameters necessary for the design. Joey also led fabrication and machined most of the custom parts.
• Nicholas Jones (High-Level Controls and Simulation)
  • Nick wrote the high-level controller and handled PyBullet simulation.
• Nikolai Flowers (Simulation, Low-Level Controls, and Electronics)
  • Nikolai wrote the hybrid state estimator and handled the electronics.