central-pattern-generator

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Janga786 / hexapod-cpg

Custom 18-DoF hexapod robot — Kuramoto-CPG locomotion controller, real-time gait visualiser, IMU heading-hold autonomous firmware, full mechanical CAD, and a 34-test verification suite.

python arduino embedded robotics numpy imu inverse-kinematics hexapod matplotlib control-systems 3d-printing kuramoto gait-generation legged-locomotion coupled-oscillators central-pattern-generator bioinspired-robotics

Updated Apr 29, 2026
Python

chenpeiting / spider

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Hybrid CPG + reinforcement learning gait control for a hexapod robot (Hiwonder SpiderPi) in NVIDIA Isaac Lab, with sim-to-real deployment. Published at ARIS 2026.

reinforcement-learning robotics hexapod legged-robots ppo sim-to-real isaac-lab central-pattern-generator

Updated Sep 29, 2026
Python

PalashMendhe / deep-rl-and-cpg-ws

Star

Unitree-Go1 bot trained on different Reinforcement Algorithms prominently on PPO, TD3 and SAC (all with CPG). The repo provides a baseline to compare different DL algorithms based on their convergence and performance per 10M steps. The postures used for these are Jumping and walking.

python pytorch gymnasium curriculum-learning proximal-policy-optimization soft-actor-critic twin-delayed-deep-deterministic-policy-gradient unitree-go1 baseline-comparison central-pattern-generator

Updated Oct 23, 2026
Python

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