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Frequency Analysis of Adaptive Behavior of NEAT based Control for Snake Modular Robot
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 Title & Authors
Frequency Analysis of Adaptive Behavior of NEAT based Control for Snake Modular Robot
Lee, Jaemin; Seo, Kisung;
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 Abstract
Modular snake-like robots are robust for failure and have flexible locomotions for obstacle environment than of walking robot. This requires an adaptation capability which is obtained from a learning approach, but has not been analysed as well. In order to investigate the property of adaptation of locomotion for different terrains, NEAT controllers are trained for a flat terrain and tested for obstacle terrains. The input and output characteristics of the adaptation for the neural network controller are analyzed for different terrains in frequency domain.
 Keywords
Modular snake-like robot;(NEAT)Neuro evolution of augmenting topologies;Adaptation;Frequency analysis;
 Language
Korean
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