Implementation and control of a reconfigureable 4-tetrahedral robot

摘要

This work describes the implementation and control of a 4-Tetrahedron walker. The hardware selection in building the robot will be covered. Both mechanical systems and the electronic control systems will be discussed in detail. This work is part of the contribution of the Hope College team to the development of tetrahedron walker robots by the ANTS (Autonomous Nano-Technology Swarm) group at Goddard Space Flight Center, NASA.