A variety of parameters in extended pattern search still need to be tuned manually. This paper introduces guidelines for the tuning of one such parameter, namely the timing schedule of the move sets. The concept of sensitivity of the objective function to different move sets is presented and is used to schedule the move sets. Our hypothesis is to apply moves in the decreasing order of the sensitivity of the objective function on them. What is particular about these robots is that they locomote using non-conventional methods such as wheels and legged motion.
Wheels are the earliest tools developed by mankind to facilitate transportation.
Wheels are very efficient in open flat spaces but they have a constantly rotating element which makes sealing the machine from the harsh outside environment a big challenge. Moreover, wheeled locomotion is highly inefficient or useless in case of non-flat terrains. The other conventional mode of locomotion legged motion has been researched and studied for a long time, but until now scientists are hindered by complex control and balance problems to maintain stability and induce smooth motion onto the robot. On the other hand, snake locomotion has always been considered as a mysterious phenomenon and it was not until recently with the development of sciences like bio-mechanics that scientists were able to perform analytical research on snake motion. After understanding some basic theory on how biological snakes locomote, scientists are building snakelike robots and trying to implement various modes of locomotion onto these robots.