The basic differential oscillator used for robots' CPGs in the Revolve project

differential_oscillator.R

library(deSolve)
differential_oscilator <- function(t, y, parms) {
  with(as.list(c(y, params)), expr = {
    dx <- w_yx * y + bias_x
    dy <- w_xy * x + bias_y
    list(c(dx, dy))
  })
}

times <- seq(from = 0, to = 20, by = 0.01)
yini <- c(x = 1, y = 1)
params <- c(w_xy = -1, w_yx = 1, bias_x = 0, bias_y = 0)
out <- ode(times = times, y = yini, func = differential_oscilator, parms = params)
plot(out)