Embodying Rather Than Encoding: Undulation with Binary Input
Longchuan Li,Shugen Ma,Isao Tokuda,Yang Tian,Yiming Cao,Makoto Nokata,Zhiqing Li,Longchuan Li,Shugen Ma,Isao Tokuda,Yang Tian,Yiming Cao,Makoto Nokata,Zhiqing Li
Undulation is the most common gait generated by legless creatures, which enables their robust and efficient locomotion in various environments. Such advantages inspired the control design of many kinds of locomotion robots. Despite their technical details, most of them realize the undulation gait via tracking predetermined trajectories called serpenoid curves, which are a group of sinusoidal wavef...
