论文标题
Hoppy：用于动态机器人教育的开源和低成本套件
HOPPY: An open-source and low-cost kit for dynamic robotics education
论文作者
论文摘要
这封信介绍了Hoppy，一种用于机器人教育的开源，低成本，健壮和模块化套件。机器人用固定的底座动态地围绕旋转龙门架弹跳。该套件降低了研究动态机器人和实际系统中的腿部运动的进入障碍。该套件通过促进和指导软件和硬件集成来桥接基本机器人课程和真实动态机器人的理论内容。这封信描述了可以使用套件研究的主题，列出了其组件，讨论了实施的最佳实践，提出了与模拟器和实际系统实验的结果，并提出了进一步的改进。描述了一个简单的控制器，以达到高达2m/s的速度，导航小物体并减轻外部干扰（踢）。 Hoppy被用作伊利诺伊大学Urbana-Champaign大学的机器人动力学和控制课程的一个学期项目的主题。学生在课程期间提供了非常积极的反馈，教师将继续改善即将到来的学期的套件。
This letter introduces HOPPY, an open-source, low-cost, robust, and modular kit for robotics education. The robot dynamically hops around a rotating gantry with a fixed base. The kit lowers the entry barrier for studying dynamic robots and legged locomotion in real systems. The kit bridges the theoretical content of fundamental robotic courses and real dynamic robots by facilitating and guiding the software and hardware integration. This letter describes the topics which can be studied using the kit, lists its components, discusses best practices for implementation, presents results from experiments with the simulator and the real system, and suggests further improvements. A simple controller is described to achieve velocities up to 2m/s, navigate small objects, and mitigate external disturbances (kicks). HOPPY was utilized as the topic of a semester-long project for the Robot Dynamics and Control course at the University of Illinois at Urbana-Champaign. Students provided an overwhelmingly positive feedback from the hands-on activities during the course and the instructors will continue to improve the kit for upcoming semesters.
