Force Optimization of Elongated Undulating Fin Robot Using Improved PSO-Based CPG

Table 3

Optimization results of CPG model with/without D-PSO algorithm.

Model	A1	A2	A3	A4	A5	A6	A7	A8	A9	A10	A11	A12	A13	A14	A15	A16	F(N)
Straight CPG	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	2.92
D-PSO CPG	2.324	5.278	12.698	16.508	19.002	20.221	21	22	24	25.249	28	30.205	32.113	36	38	40	3.60

Note. denotes the average propulsive speed, and t is the convergence time.