{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,14]],"date-time":"2026-07-14T18:49:18Z","timestamp":1784054958861,"version":"3.55.0"},"reference-count":17,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,3,29]],"date-time":"2023-03-29T00:00:00Z","timestamp":1680048000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["20K04380"],"award-info":[{"award-number":["20K04380"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>When a snake robot explores a collapsed house as a rescue robot, it needs to move through various obstacles, some of which may be made of soft materials, such as mattresses. In this study, we call mattress-like environment as a soft floor, which deforms when some force is added to it. We focused on the central pattern generator (CPG) network as a control for the snake robot to propel itself on the soft floor and constructed a CPG network that feeds back contact information between the robot and the floor. A genetic algorithm was used to determine the parameters of the CPG network suitable for the soft floor. To verify the obtained parameters, comparative simulations were conducted using the parameters obtained for the soft and hard floor, and the parameters were confirmed to be appropriate for each environment. By observing the difference in snake robot\u2019s propulsion depending on the presence or absence of the tactile sensor feedback signal, we confirmed the effectiveness of the tactile sensor considered in the parameter search.<\/jats:p>","DOI":"10.3389\/frobt.2023.1138019","type":"journal-article","created":{"date-parts":[[2023,3,29]],"date-time":"2023-03-29T04:58:01Z","timestamp":1680065881000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Parameter search of a CPG network using a genetic algorithm for a snake robot with tactile sensors moving on a soft floor"],"prefix":"10.3389","volume":"10","author":[{"given":"Hajime","family":"Tamura","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tetsushi","family":"Kamegawa","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2023,3,29]]},"reference":[{"key":"B1","volume-title":"Biologically inspired robots: Snake-like locomotors and manipulators","author":"Hirose","year":"1993"},{"key":"B2","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/1090.001.0001","volume-title":"Adaptation in natural and artificial systems","author":"Holland","year":"1992"},{"key":"B3","doi-asserted-by":"publisher","first-page":"642","DOI":"10.1016\/j.neunet.2008.03.014","article-title":"Central pattern generators for locomotion control in animals and robots: A review","volume":"21","author":"Ijspeert","year":"2008","journal-title":"Neural Netw."},{"key":"B4","first-page":"5064","article-title":"Neural oscillator network-based controller for meandering locomotion of snake-like robots","author":"Inoue","year":"2004"},{"key":"B5","first-page":"1957","article-title":"CPG-based control of a simulated snake-like robot adaptable to changing ground friction","author":"Inoue","year":"2007"},{"key":"B6","doi-asserted-by":"publisher","first-page":"233","DOI":"10.3951\/biomechanisms.23.233","article-title":"Investigation of pressure redistribution for bony protrusions in polyurethane foam mattresses by mechanical tests and hyperelastic modeling","volume":"23","author":"Inoue","year":"2016","journal-title":"SOBIM"},{"key":"B7","doi-asserted-by":"publisher","first-page":"232","DOI":"10.1093\/icb\/icaa014","article-title":"Decoding decentralized control mechanism underlying adaptive and versatile locomotion of snakes","volume":"60","author":"Kano","year":"2020","journal-title":"Integr. 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