Figure 8
From: 3D-Printing and Machine Learning Control of Soft Ionic Polymer-Metal Composite Actuators
Experimental and simulated performance for optimized gaits for both the leg-body-body-leg and leg-body-leg-body-leg configurations showing the positions of the rear leg, the central joint and the front leg respectively as functions of time: (a1) leg-body-body-leg configuration of real robot, (a2) position of front leg of leg-body-body-leg configuration, (a3) position of central joint of leg-body-body-leg configuration, (a4) position of rear leg of leg-body-body-leg configuration, (b1) leg-body-leg-body-leg configuration of real robot, (b2) position of front leg of leg-body-leg-body-leg configuration, (b3) position of central leg of leg-body-leg-body-leg configuration and (b4) position of rear leg of leg-body-leg-body-leg configuration.
