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http://dx.doi.org/10.5302/J.ICROS.2009.15.6.604

A Comparative Study of Evolutionary Computation Techniques for Locomotion Control of Modular Snake-like Robots  

Jang, Jae-Young (서경대학교 전자공학과)
Hyun, Soo-Hwan (서경대학교 전자공학과)
Seo, Ki-Sung (서경대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.6, 2009 , pp. 604-611 More about this Journal
Abstract
Modular snake-like robots are robust for failure and have flexible locomotion for environments, but are difficult to control. Various phase and evolutionary approaches for modular robots have been studied for many years, but there are few comparisons among these methods. In this paper, Phase, GAps, GA and GP approaches are implemented and compared for flat, stairs, and slope environments. In addition, simulations of the locomotion evolution for modular snake-like robot are executed in Webots environments.
Keywords
modular robot; snake-like; locomotion; genetic algorithm; genetic programming;
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