Research of Pose Control Algorithm of Coal Mine Rescue Snake Robot

Figure 7

(a) Pitch angles optimized by the PSOELM ( cm). (b) Pitch angles controlled by the ELM ( cm). (c) Pitch angles optimized by the PSOELM (). (d) Pitch angles controlled by the ELM (). (e) Pitch angles optimized by the PSOELM (). (f) Pitch angles controlled by the ELM ().

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