I would like to thank my parents Sandra Kon and Douglas Kon. For years of support and encouragement of my dreams, as well as your tireless efforts to provide every opportunity imaginable. To my friends. Nicolas Law, Allison Crim, Xavier Tarr, Eli Laramie, Christopher Swider, Derek Bargelt and Nathan Messana. You each have had a tremendous impact on my life and I am so glad to know you all. Thank you for the many years of friendship that have lead me here and I look forward to the many years to come. This would not have been possible with out the endless support, and assistance of numerous wonderful people. Whether you served as a sounding board, a guiding hand or even just lent a supportive ear, know that you helped make this possible. List of Contributions • Design and implementation of simulation model for the hexapod-quadcopter system. • Design and implementation of a Genetic Algorithm for the generation of gaits to compensate for damage in a hexapod system.