LocoKit - A Construction Kit for Exploration of Morphology of Legged Robots

Producing steady stable and energy efficient locomotion in legged robots with the ability to walk in unknown
terrain is a big challenge in robotics. In addressing this challenge, it is often desirable to experiment with different
morphologies and see how they influence on the way the robot walks. This is however not always easy, since robots are
often built as a fixed system with a limited possibility of changing the morphology without redesign a significant part of
the robot. This work is focusing on the creation of a robotic construction kit specifically aimed at easing the process of
constructing legged robots. This is accomplished by giving the creator the possibility to easily do morphological changes
to the robot even after it have been build, to see how it effects the robot?s ability to walk in unknown terrain.