✦ LIBER ✦
Oscillatory network controlling six-legged locomotion: Optimization of model parameters
✍ Scribed by Gennady S. Cymbalyuk; Roman M. Borisyuk; Uwe Müller-Wilm; Holk Cruse
- Publisher
- Elsevier Science
- Year
- 1998
- Tongue
- English
- Weight
- 326 KB
- Volume
- 11
- Category
- Article
- ISSN
- 0893-6080
No coin nor oath required. For personal study only.
✦ Synopsis
The model of a legged locomotory system is optimized to ensure stable motion, reliable with respect to different initial conditions. The cost function suggested is based on the frequency of the model's loss of stability evaluated for randomly chosen initial leg positions. The optimized model can start from the majority of allowed leg configurations, demonstrating stable walking at low and moderate speeds. Furthermore, an acceleration procedure is designed to permit the model to pick up practically every speed and then walk successfully.