Online optimization of modular robot locomotion

  title={Online optimization of modular robot locomotion},
  author={Daniel Marbach and A. J. Ijspeert},
  journal={IEEE International Conference Mechatronics and Automation, 2005},
  pages={248-253 Vol. 1}
Adaptive locomotion in unstructured and unpredictable environments is one of the most advertised features of modular robots in the literature. Autonomous modular robots are expected to adapt in the face of a dynamic environment, unexpected tasks and/or module failures. There are two levels of adaptation: within a static configuration, a chain-type modular robot can adapt its locomotion gait using its many degrees of freedom and the inherent redundancy. In addition, the robot may self… CONTINUE READING