  This paper represents an adaptive rhythmic control for a snake-like robot
with 25 degrees of freedom. The adaptive gait control is implemented in
algorithmic way in simulation and on a real robot. We investigated behavioral
and energetic properties of this control and a dynamics of different body
segments. It turned out that despite using homogeneous generators, physical
constraints have an inhomogeneous impact on neighbor body segments. By
analytical modeling of such dynamics, it may result in heterogeneous coupling
of oscillators for a rhythmic control and impact scalability and
synchronization effects of gait pattern generators.
