lipm_walking_controller
paper_nava_2023_icra_fault-control-ironcub
| lipm_walking_controller | paper_nava_2023_icra_fault-control-ironcub | |
|---|---|---|
| 2 | 1 | |
| 216 | 11 | |
| - | - | |
| 2.1 | 6.0 | |
| 9 months ago | 4 months ago | |
| C++ | MATLAB | |
| BSD 2-clause "Simplified" License | BSD 3-clause "New" or "Revised" License |
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lipm_walking_controller
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Help! After adding a chest (incl battery and two servos for the shoulders) my humanoid Kayra the same gait pattern doesn't work anymore. Here's a video contrasting with vs without chest. What are the top five improvements you'd suggest?
On a related note, a ZMP-based trajectory optimizer also has a fitness function. Unfortunately it's not obvious at all in the tutorial I mentioned, there it only appears as wxt=1., wu=0.01; it's more obvious in the code and GUI of the lipm_walking_controller, where the cost function appears in the Walking → MPC tab. You can run this thing in a Docker if you want to check it out:
paper_nava_2023_icra_fault-control-ironcub
What are some alternatives?
kayra - an easy to modify, 3d printable open source humanoid robot evolved by the community
AdaTime - [TKDD 2023] AdaTime: A Benchmarking Suite for Domain Adaptation on Time Series Data
pink - Python inverse kinematics based on Pinocchio
Aerial - Apple TV screen saver for Windows
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
jacl - Just Another Control Library - part of my capstone project
PCL - Point Cloud Library (PCL)
phi-accrual-failure-detector - Phi φ Accrual Failure Detector implementation in Python, see: https://samueleresca.net/detecting-node-failures-and-the-phi-accrual-failure-detector/
MRPT - :zap: The Mobile Robot Programming Toolkit (MRPT)
Aerial - Aerial Apple TV screen saver for Windows
upkie_description - URDF model for Upkie wheeled bipeds
async-backplane - Simple, Erlang-inspired fault-tolerance framework for Rust Futures.