Research Article
Force Optimization of Elongated Undulating Fin Robot Using Improved PSO-Based CPG
Table 1
Parameters of CPG network.
| | f (Hz) | φ (°) | A1 | A2 | A3 | A4 | A5 | A6 | A7 | A8 | A9 | A10 | A11 | A12 | A13 | A14 | A15 | A16 |
| | 1 | −60° | 2.5 | 5.0 | 7.5 | 10.0 | 12.5 | 15.0 | 17.5 | 20.0 | 22.5 | 25.0 | 27.5 | 30.0 | 32.5 | 35.0 | 37.5 | 40.0 |
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