Biorobotics Laboratory BioRob

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Yamor quadruped optimized

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Description

Yamor robot, quadruped configuration, the video shows locomotion performance with optimized CPG parameters. The CPG network structure is fixed though, mapping the mechanical structure. Cost function is simple 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.