Description
Locomotion of a quadrupedal structure made of five Roombots modules. The robot was equipped with four external passive elements to increase friction with the ground.
This robot is using oscillatory movements produced by a network of coupled phase oscillators (CPGs) controlling its 12 degrees of freedom (3 per leg, no actuation in the spine module).
The CPG control parameters were previously optimized in simulation using a population based optimization technique (Particle Swarm Optimization, PSO).
