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This paper represents an adaptive rhythmic control for a snake-like robotwith 25 degrees of freedom. The adaptive gait control is implemented inalgorithmic way in simulation and on a real robot. We investigated behavioraland energetic properties of this control and a dynamics of different bodysegments. It turned out that despite using homogeneous generators, physicalconstraints have an inhomogeneous impact on neighbor body segments. Byanalytical modeling of such dynamics, it may result in heterogeneous couplingof oscillators for a rhythmic control and impact scalability andsynchronization effects of gait pattern generators.

Adaptive Locomotion of Multibody Snake-like Robot