| Title |
Frequency Analysis of Adaptive Behavior of NEAT based Control for Snake Modular Robot |
| Authors |
이재민(Lee, Jaemin) ; 서기성(Seo, Kisung) |
| DOI |
https://doi.org/10.5370/KIEE.2015.64.9.1356 |
| Keywords |
Modular snake-like robot ; (NEAT)Neuro evolution of augmenting topologies ; Adaptation ; Frequency analysis |
| Abstract |
Modular snake-like robots are robust for failure and have flexible locomotions for obstacle environment than of walking robot. This requires an adaptation capability which is obtained from a learning approach, but has not been analysed as well. In order to investigate the property of adaptation of locomotion for different terrains, NEAT controllers are trained for a flat terrain and tested for obstacle terrains. The input and output characteristics of the adaptation for the neural network controller are analyzed for different terrains in frequency domain. |