Model​​-Based Systems Quadruped

The biggest improvement would come from the addition of more databases to reference. Within CISCOR, this could be adding RHex and Minitaur to the database but is not limited to robots that are already built. This would allow for more flexibility in future designs that could be produced by the program. On the note of flexibility, improving and updating the models would also play a large role. Initially we wanted to make it to implementing a Jacobian model, but that task became to big to truly finish the project with a functional tool in our time frame. The Jacobian would allow users to look at the impact that different leg types would have on a design, or different foot models for different gaits such as the difference between walking and swimming. 

The user interface could also be improved, not just from a graphics standpoint but from a functionality purpose as well. It is clear to us that it needs more error handling and fail safes in place for inputs that are truly unrealistic or unanticipated, and the inclusion of a status bar such as ones within CREO alerting the user if something does not make sense could also help streamline the process making it more efficient.

A more in-depth sensitivity analysis could also be put in place. We performed a high-level sensitivity analysis, specifically identifying how big of a role masses play within all the parameters, yet with increased model complexity additional variables could also be analyzed to see their impact more clearly within a design. 

Finally, being able to produce and choose a most optimal design would be significantly helpful. Ideally this would be rooted in the users’ goals from the tool, and could return what battery is most efficient, what leg length will be best, or what motor gives you the best outputs for the goal at hand. This would really take the tool to the next level in terms of assisting the user in getting the best results possible.