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This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented.<\/p>","DOI":"10.4018\/jncr.2011010103","type":"journal-article","created":{"date-parts":[[2011,10,19]],"date-time":"2011-10-19T12:42:16Z","timestamp":1319028136000},"page":"39-62","source":"Crossref","is-referenced-by-count":2,"title":["Head Motion Stabilization During Quadruped Robot Locomotion"],"prefix":"10.4018","volume":"2","author":[{"given":"Miguel","family":"Oliveira","sequence":"first","affiliation":[{"name":"University of Minho, Portugal"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cristina P.","family":"Santos","sequence":"additional","affiliation":[{"name":"University of Minho, Portugal"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lino","family":"Costa","sequence":"additional","affiliation":[{"name":"University of Minho, Portugal"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ana","family":"Rocha","sequence":"additional","affiliation":[{"name":"University of Minho, Portugal"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Manuel","family":"Ferreira","sequence":"additional","affiliation":[{"name":"University of Minho, Portugal"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"2432","reference":[{"key":"jncr.2011010103-0","first-page":"115","article-title":"Simulated binary crossover for continuous search space.","volume":"9","author":"R. 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