Biorobotics Laboratory BioRob

Yamor tripod random

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Yamor robot, quadruped configuration, the video shows locomotion performance with initial, randomized CPG parameters. The CPG network structure is fixed, its structure is mapping the mechanical structure. Cost function is measured distance over time, CPG parameters are optimized "online", what is during run-time and not e.g. in a parallel simulation.

Work by A. Sproewitz, J. Maye, R. Moeckel, A. J. Ijspeert, 2008.