CPG-based Loco-manipulation control with robot orientation control of dung beetle-like robot and quadruped robot.
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In order to run the simulation, it's required to have ROS2, CoppeliaSim.
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The code is written in C++.
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We have tested pur system on Ubuntu 24.04.1. The older Version such as 22, 20 should also work.
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Clone the repository and navigate to the folder CPG-ROC-LocoManipulation_main/projects/db_alpha/walking_neural_control/sim/ros2_ws
use colcon build to build the package
colcon build
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open the simulation scenes in folder scene/dbAlpha_Rolling_Spere_small_ball
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run the simulation
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To run the Quadruped Cylinder Rolling Scene, it is required to use the Coppelia Simulation. The simulation is tested on Ubuntu 24.04.1 with Coppelia Version 4.7.
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The code is written in the scene file with Lua programming language.
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Open the Quadruped Cylinder Rolling Scene scene file located in the scenes folder.
- if there is an error to run the scene consider install some dependencies as follows:
apt install pyzmq python3-cbor2