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CPG-based adaptable control of a snake-like robot
Description
In this paper, we realized CPG-based controller of a snake-like robot that is adaptable to changing ground fricitonal condition. In the proposed method, the controller is based on Ekeberg's CPG model and sensory input from frictional force sensors are fed back to CPG. Using parameter optimization by GA, adaptation of meandering locomotion is realized.
Journal
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- SICE Annual Conference 2007
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SICE Annual Conference 2007 2161-2164, 2007-09-01
IEEE
