Publisher : The Korean Institute of Electrical Engineers
DOI : 10.5370/KIEE.2015.64.9.1356
Title & Authors
Frequency Analysis of Adaptive Behavior of NEAT based Control for Snake Modular Robot Lee, Jaemin; Seo, Kisung;
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.
Modular snake-like robot;(NEAT)Neuro evolution of augmenting topologies;Adaptation;Frequency analysis;