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This paper introduces HOPPY, an open-source, low-cost, robust, and modularkit for robotics education. The robot dynamically hops around a rotating gantrywith a fixed base. The kit is intended to lower the entry barrier for studyingdynamic robots and legged locomotion with real systems. It bridges thetheoretical content of fundamental robotic courses with real dynamic robots byfacilitating and guiding the software and hardware integration. This paperdescribes the topics which can be studied using the kit, lists its components,discusses preferred practices for implementation, presents results fromexperiments with the simulator and the real system, and suggests furtherimprovements. A simple heuristic-based controller is described to achievevelocities up to 1.7m/s, navigate small objects, and mitigate externaldisturbances when the robot is aided by a counterweight. HOPPY was utilized asthe subject of a semester-long project for the Robot Dynamics and Controlcourse at the University of Illinois at Urbana-Champaign. The positive feedbackfrom the students and instructors about the hands-on activities during thecourse motivates us to share this kit and continue improving in the future.

HOPPY: An Open-source Kit for Education with Dynamic Legged Robots