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The general morphology of our quadruped robot BayesAnt with a front view on the left and a top view on the right. The left figure shows that the hip limb's length is 130 mm and the knee limb's length is 230 mm. Due to the symmetrical design, only one of their hip limbs and knee limbs is labeled. Similarly, the right figure shows the body's size is 150 × 150 mm, so the overall size is 350 × 350 × 300 mm.

The general morphology of our quadruped robot BayesAnt with a front view on the left and a top view on the right. The left figure shows that the hip limb's length is 130 mm and the knee limb's length is 230 mm. Due to the symmetrical design, only one of their hip limbs and knee limbs is labeled. Similarly, the right figure shows the body's size is 150 × 150 mm, so the overall size is 350 × 350 × 300 mm.

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Parametric search for gait controllers is a key challenge in quadruped locomotion. Several optimization methods can be adopted to find the optimal solution by regarding it as an optimization problem. Here we adopt Bayesian optimization (BO), a global optimization method that is suitable for unknown objective functions particularly when it is hard t...

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... Platform. The quadruped robot BayesAnt mainly consists of two parts and its total size is 350 × 350 × 300 mm (shown in Fig. 1). The body part, printed by onyx and carbon fiber materials, has a protective rope to prevent it from falling during walking. As for the moving parts, an Arduino nano with an Adafruit 16-Channel PWM/Servo Driver is used for controlling eight servomotors, and each leg, made of carbon fiber tubes, has two servomotors. Hip's servomotors ...

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