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

Table 3

Optimization results for the lateral undulation motion for the snake-like robot in different environments.

	(rad)	(rad/s)	Efficiency	Iteration
(0.1, 0.3)	0.429	1.850	0.283	30
(0.1, 0.4)	0.123	0.652	0.332	80
(0.1, 0.5)	0.097	0.633	0.535	100
(0.1, 1)	0.118	0.633	0.490	116
(1, 3)	0.126	0.634	0.018	70
(1, 4)	0.512	0.628	0.019	106
(1, 5)	0.507	0.628	0.022	118
(1, 10)	0.484	0.630	0.021	85