kghite/hop

A wheeled jumping robot for controls and character development in C++ using ROS

Hop

A wheeled jumping robot for controls and character development

Feature Demos

Stair Climb

Terrain Navigation

Fall Recovery

Personality Interaction

Robot Build

BOM

Bill of Materials Spreadsheet

CAD

Onshape Model

Electrical

Software System

System Graph

FSM Flow

The FSM states and corresponding LED patterns can be found here.

Controls Modules

Setup Instructions

Install and Startup - Onboard Rpi

• Install ROS Melodic for RPi Zero W
• Clone the rpi branch of the hop repo into catkin_ws/src
• Enable running the startup script on boot
  • sudo vi /etc/rc.local
  • Add sudo bash /home/<user>/catkin_ws/src/hop/rpi-boot.sh & before the exit 0 line

Install and Startup - Offboard Server

Running the Robot

• Running a state sequence mission file ->
• Running teleop ->

hop's Issues

DEMO 2: Stair navigation

• Recognize stair obstacle
• Jump up steps given forward teleop

Electrical Assembly and Verification

• Tested RPi input -> camera, imu
• Tested RPi output -> motors, servos, leds
• Roadkill photo

DEMO 1: Stand up into teleop

• Stand up from folded position
• Balance in place
• Execute basic teleop (linear, spin, hop)
• Dynamics writeup

DEMO 3: Fall recovery

• Recover from forward or backward fall to ground
• Dynamics writeup