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. 2019 Oct 4;6(5):579–594. doi: 10.1089/soro.2018.0126

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© Matthew Ishige et al. 2019; Published by Mary Ann Liebert, Inc.

This Open Access article is distributed under the terms of the Creative Commons License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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FIG. 11. — Magnitudes of feedback weights obtained for locomotion on flat terrain using (a) SenseCPG-PGPE and (b) LocalSenseCPG-PGPE. Feedback weights to oscillators for segment actuators are shown. The symbols of sensors correspond with Equation (12). For simplicity, two weights {W_cos}_ij and {W_sin}_ij (i and j are oscillator id and sensor id, respectively) are bundled into . Weights for inactive sensors (i.e., sensors that returned zero during stable locomotion) are shown as zero. The original values of the weights are published online (Supplementary Data). In LocalSenseCPG-PGPE, only weights surrounded by the red frames were active.

Inline graphic — Magnitudes of feedback weights obtained for locomotion on flat terrain using (a) SenseCPG-PGPE and (b) LocalSenseCPG-PGPE. Feedback weights to oscillators for segment actuators are shown. The symbols of sensors correspond with Equation (12). For simplicity, two weights {W_cos}_ij and {W_sin}_ij (i and j are oscillator id and sensor id, respectively) are bundled into . Weights for inactive sensors (i.e., sensors that returned zero during stable locomotion) are shown as zero. The original values of the weights are published online (Supplementary Data). In LocalSenseCPG-PGPE, only weights surrounded by the red frames were active.