In January of 2022 I joined Professor Ronald Fearing’s biomimetics research group. The area of research was unfamiliar, but I still jumped at the opportunity. I wanted to work with fellow students, and challenge myself to learn new things. The research involves multi-legged robots utilizing reinforcement learning to collaboratively complete objectives. My main tasks were to create an RPM sensor that can classify terrains, and help design a PCB board for the electrical components. An infrared sensor and encoding wheel with reflective tape were used to handle the classification. The sensor communicates with a ADC that is wired into a Raspberry Pi.