Figure 4.

(A) Bending angle of each module of the WPI SRS while performing a straight locomotion test controlled by ILC. The blue, green, yellow, and black curves correspond to bending angles of each module from head to tail. The region between the pink vertical lines is when ILC is performing the initial observation process, where the controller records all angle data and pick up the smallest amplitude as the desired angle for the following iterations, as shown as red horizontal lines. (B) Centroid of the WPI SRS-4 following a straight line using ILC.