Bipedal Walking Robots
Required enverionments:
- Python 3.6 +
- CoppeliaSim 4.0 +
1. Basic computation of 2D LIPM
This project is about the models and algorithms for bipedal walking control, including the Linear Inverted Pendunum Model (LIPM) and humandoid robots. The LIPM is shown as follows:
The calculation for LIPM is implemented with Python 3.6, given different target orbital energy, the LIPM can be controlled to different walking states.
1.1 Single leg
1.1 Giving a initial state for a positve orbital energy.
1.2 Giving a initial state for a negetive orbital energy.
1.2 Double legs
1.2.1 Giving a zero target orbital energy.
1.2.2 Giving a positive target orbital energy.
1.2.3 Giving a negetive target orbital energy.
2. Forward kinematics and inverse kinematics
2.1 Plot with python
Run the script in 'LIPM/LIPM_ik_test.py', you can get the following result:
2.2 Plot with VREP (CoppliaSim)
Open 'scenes/demo_1_LIPM_kinematics.ttt' with CoppliaSim 4.0+ and run the project with the begin button of CoppeliaSim , then run with the script 'demo_1_LIPM_kinematics.py', you can get the following result:
3. 3D LIPM model
Run the script in 'LIPM/demo_LIPM_3D.py', and specify different parameters, you can get different simulation results.
Walk forward:
Turn left:
Turn right:
4.ZMP preview control
The code is opensource at: https://github.com/chauby/ZMP_preview_control
Tutorial: https://zhuanlan.zhihu.com/p/452704228?
The ZMP and COM trajectory generation with the given ZMP stepping positions:
文章教程
代码对应的文章教程有两种访问方式，详见：
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