Fig. 3.

Adaptability of the assembled robot to damage using the Thermal and Flaky algorithms. (A and B) An assembled robot consisting of three active units is damaged by removing one of the needles. (C and D) Average velocity $Ū$ obtained in experiments for an intact and damaged robot, as a function of the possible range of combinations of phases ${\varphi }_3-{\varphi }_1$ and ${\varphi }_2-{\varphi }_1$ (with ${\varphi }_1=0$). The white and black dots represent the tried phases in two learning experiments in which the robot is damaged after 300 learning steps, using the (E) Thermal and (F) Flaky algorithms, respectively.