Biorobotics Laboratory BioRob

Yamor snake randomized

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

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