/Central-Pattern-Generators

Three CPG models are implemented according to papers

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Central-Pattern-Generators

Three different CPG models from papers

I reimplemented central pattern generator methods according to three papers.
Got the same results as the paper.
hopf_cpg.py: [1]
cpg_fish_AmphiBot.py: [2]
CPG_fish_BoxyBot.py:[3]
[1]Righetti, L. and Ijspeert, A.J., 2008, May. Pattern generators with sensory feedback for the control of quadruped locomotion. In 2008 IEEE International Conference on Robotics and Automation (pp. 819-824). IEEE.
[2]Crespi, A. and Ijspeert, A.J., 2006. AmphiBot II: An amphibious snake robot that crawls and swims using a central pattern generator. In Proceedings of the 9th international conference on climbing and walking robots (CLAWAR 2006) (No. CONF, pp. 19-27).
[3]Crespi, A., Lachat, D., Pasquier, A. and Ijspeert, A.J., 2008. Controlling swimming and crawling in a fish robot using a central pattern generator. Autonomous Robots, 25(1), pp.3-13.