Research in Control Architecture of a 12 Legged Multi-Modal-Locomotion Robot

Fall 2009

Benjamin Koopman
Dimitrios Apostolopoulos
Project description

For this project, I will be studying possible sensing and controls modalities for RATS (Robotic All Terrain Surveyor). RATS is a multi-legged robot that can emulate different modes of locomotion including hopping and rolling. I will then perform research into computing integration of the sensing. I will implement existing control software into the physical system and generate experimental results indicative of system performance. The eventual goal is to have implemented an open loop control system for the current RATS iteration, and an ideal architectural design for future RATS systems

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