MOAST is a full featured robotic controller that is an implementation of the 4D/RCS reference model architecture for intelligent agents.
It is intended as a research and teaching tool, and comes with controllers that allow for Cartesian control of robotic arms, and mobility control of skid-steered and Ackerman steered mobile robots. It is fully compatible with the USARSim robotic simulation.
MOAST may be downloaded at http://sourceforge.net/project/showfiles.php?group_id=148555
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