Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator

Table 2

Efficiency of lateral undulation controlled by same parameters in different environments.

	(0.1, 0.3)	(0.1, 0.4)	(0.1, 0.5)	(0.1, 1)
	0.002	0.003	0.004	0.026
	(0.1, 3)	(0.1, 4)	(0.1, 5)	(0.1, 10)
	0.227	0.301	0.363	0.564
	(1, 3)	(1, 4)	(1, 5)	(1, 10)
	0.014	0.025	0.035	0.084