Spryped: a Bipedal Robot with Floating Body MPC

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    • 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
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In 2020, I designed a bipedal robot featuring my custom made QDD actuator, SpryDrive. Compare the "chickenwalker" design to Agility Robotics' Cassie, as well as the Blackbird bipedal robot.

Next, I wrote a control and simulation stack for the robot in Python based on the floating body controller used for the MIT Mini Cheetah. Here's the 
Github Repo. There are many flaws with both the code and the design--however, it was an excellent learning experience.

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© 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