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This paper presents new methods and results on synchronization of coupled Hopf nonlinear oscillators, which are commonly used as the dynamic model of engineered central pattern generators (CPGs). On balanced graphs, any positive coupling gain is proven to induce almost global asymptotic synchronization, and a threshold value for truly global exponential synchronization is also computed. Furthermore, a hierarchical connection between coupled Hopf oscillators and Kuramoto oscillators isdoi:10.1109/cdc.2010.5717962 dblp:conf/cdc/ChungS10 fatcat:q4cig6ozwrfz7mxe6yzd7eemyu