Research in Localization of a 12 Legged Multi-Modal-Locomotion Robot

Spring 2011

Benjamin Koopman
Dimitrios Apostolopoulos
Project description

This project is intended to further implement probabilistic localization and controls for a 12-legged multi-modal Robotic All Terrain Surveyor (RATS) robot. During locomotion of the RATS robot, several distinct kinematic modes are present. Multiple models will be used for localization for each mode with probabilistic evaluation of mode transitions. These algorithms will be developed using a simulation developed with Open Dynamics Engine.

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