| The project, based on the ideas “Legged Robots that Balance” by Marc Raibert. The book thoroughly described the making of the machine, including its structure, and the algorithm to keep it balanced. While Raibert’s algorithm was applied directly, the structural design will differ from the book. The three main components of the project were the quick and reliable pivot, extension, and retraction of the leg relative to the body to a given position. The second phase of the project involved creating a hopper that could truly hop and balance in a plane with all three degrees of freedom. The second and main goal is to create a one-legged hopper that can balance in 3D instead of just one plane. It also used motors for leg pivot actuation and pneumatics for thrust action of the leg. |
