Small planetary rovers

Abstract
We have previously built a small IKg ([Angle 89] and [Brooks 89]) six legged walking robot named Genghis. It was remarkably successful as a testbed to develop walking and learning algorithms. It encouraged us to build a more fully engineered robot with higher performance. We are building two copies of the robot, both 1.6Kg in mass. Their generic name is Attila. Attila has 24 actuators and over 150 sensors, all connected via a local network (the I2C bus) to 11 onboard computers.
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