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

Table 4

Optimization results of CPG model using different metaheuristic algorithms.

Model	A1	A2	A3	A4	A5	A6	A7	A8	A9	A10	A11	A12	A13	A14	A15	A16	F(N)
GA-CPG	1.362	5.048	8.911	11.754	12.495	17.484	22.489	23.108	23.617	24.625	26.500	33.765	32.438	35.679	38.473	39.049	3.57
PSO CPG	1	5.818	7.125	11	13.988	16.747	23.977	24.217	25.234	26	27	35.325	36.763	37.358	38.946	39.403	3.58
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