Simulation_CPG_Manipulation_Oripixel

This repository includes the supplementary material for paper "CPG-Based Manipulation with Multi-Module Origami Robot Surface".

Files Description

• Oripixel.py - Code for generating simulation model, compatible with MuJoCo V.3.2.7.
• parameter_optimization.py - For running optimizations for finding optimal CPG parameter sets
• simulation_model.xml - Example model generated using the Oripixel.py

Optimized CPG Parameters for Manipulations

Fast Manipulations

Parameter	Y+	Y-	X+	X-	CW	CCW
h_amp	0.0091	0.0140	0.0091	0.0157	0.0118	0.0118
ψ_amp	39.800	33.532	42.120	34.802	22.095	22.095
f	0.7008	0.74590	0.7312	0.7911	0.5782	0.5782
h₀	0.0356	0.0358	0.0382	0.0326	-0.0383	-0.0383
ψ₀	-0.4031	-1.0269	-0.3702	-1.8514	-0.0616	0.0616
σ	1.6525	4.7527	1.5470	4.6462	0.7958	3.9374
φ	π	π	π	π	π	π
ε	0.2170	0.1563	0.2434	0.228	0.1	0.1

Smooth Manipulations

Parameter	Y+	Y-	X+	X-	CW	CCW
h_amp	0.0124	0.0124	0.0080	0.0086	-	-
ψ_amp	22.807	22.807	26.734	23.264	-	-
f	0.6576	0.6576	0.6624	0.6803	-	-
h₀	0.0323	0.0323	0.0329	0.0335	-	-
ψ₀	-1.4558	-1.4558	1.4765	-2.3114	-	-
σ	1.8311	4.9727	5.3801	2.3289	-	-
φ	2.7647	2.7647	3.0008	2.9393	-	-
ε	0.1827	0.1827	0.1701	0.1880	-	-