Hopf Osicllator based snake robot controller

This project was submitted as a final project towards EN.605.716. It simulates coupled Hopf oscillators as described in [1] to control a snake robot.

Requirements

• ROS Kinetic

• OakLake's snake robot gazebo simulation (optional)

Running

To run the simulation using Oaklake's snake:

roslaunch hopf_snakebot sim.launch

Otherwise, you will have to change the topic parameter in nodes/controller to match the Float32 topic that controls each joint. Then run:

rosrun hopf_snakebot controller

References

Wang, Z., Gao, Q., & Zhao, H. (2017). CPG-Inspired Locomotion Control for a Snake Robot Basing on Nonlinear Oscillators. Journal of Intelligent and Robotic Systems: Theory and Applications, 85(2), 209–227. https://doi.org/10.1007/s10846-016-0373-9