how can I add the CPG(central pattern generator) model into the code?

leggedrobotics / free_gait

An Architecture for the Versatile Control of Legged Robots

BSD 3-Clause "New" or "Revised" License

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Open hejiayu1 opened 5 years ago

hejiayu1 commented 5 years ago

I want to compare the CPG and model-based approach and behavior-based approach.If I want to add the CPG model,which file should I modify？