15-494: Cognitive Robotics, Spring 2008
I created a new tentacle robot for use in Tekkotsu and explored path planning algorithms for it. The tentacle robot consisted of 8 servos in series, a camera, and a playpen. I used an RRT algorithm to compute paths between start positions and pre-defined goal positions while avoiding Easter egg shells as obstacles. In the end, the tentacle could aptly path plan around obstacles that do not heavily constrain the workspace.