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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. 7. — Comparison of locomotion distance in 100 s, during which time the robot must climb one step of a different height. A step was placed at x = 35 cm. The controllers were trained to navigate a step of height 8 cm. The horizontal dashed line shows the position of a step. Each bar presents the average of 10 separately trained controllers. The error bars are large due to some training trials failing, even with the proposed SenseCPG-PGPE. The robot using Kuramoto-PGPE barely managed to climb a step, whereas the robot using the proposed method was able to climb an average highest step of 8.5 cm.