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Preview Control of CoM and ZMP for Bipedal Walking Stability

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Name		Name	Last commit message	Last commit date
Latest commit History 26 Commits
envs		envs
meshes		meshes
misc		misc
motion_planning		motion_planning
scripts		scripts
urdf		urdf
utils		utils
README.md		README.md
biped_flatfoot_robot.urdf		biped_flatfoot_robot.urdf

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Biped Locomotion

Preview Control of CoM and ZMP for Bipedal Walking Stability

python 3.7 + PyBullet

Steps

Start the simulation using:

$ python -m scripts.main_run

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Preview Control of CoM and ZMP for Bipedal Walking Stability

python3 inverse-kinematics trajectory-generation biped pybullet gait-generation zmp-preview-control

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Python 100.0%