Designing higher fourier harmonics of Tegotae function using genetic algorithm-a case study with an earthworm locomotion. In this study, taking earthworm locomotion as an example, we design a Tegotae function whose action term includes higher Fourier harmonics by using a genetic algorithm. 
Genetic Algorithm
Designing higher fourier harmonics of Tegotae function using genetic algorithm-a case study with an earthworm locomotion. We previously proposed a novel decentralised control scheme for animals' adaptive locomotion based on a Tegotae function, a function which quantifies Tegotae and is generally given by the product of action and reaction terms.  In this study, taking earthworm locomotion as an example, we design a Tegotae function whose action term includes higher Fourier harmonics by using a genetic algorithm. 
Tegotae function
Designing higher fourier harmonics of Tegotae function using genetic algorithm-a case study with an earthworm locomotion. Specifically, while the previous works assumed that the action term is given by a sinusoidal function, it is expected that introducing higher Fourier harmonics in the action term improves locomotion performance.  In this study, taking earthworm locomotion as an example, we design a Tegotae function whose action term includes higher Fourier harmonics by using a genetic algorithm.  We demonstrate via simulations that the performance improves by implementing the higher Fourier harmonics.
Fourier Harmonics