lipm_walking_controller
pink
| lipm_walking_controller | pink | |
|---|---|---|
| 2 | 3 | |
| 218 | 156 | |
| - | 21.8% | |
| 2.1 | 9.3 | |
| 9 months ago | 3 days ago | |
| C++ | Python | |
| BSD 2-clause "Simplified" License | Apache License 2.0 |
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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:
pink
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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?
pink
- Python inverse kinematics for articulated robot models, based on Pinocchio
What are some alternatives?
kayra - an easy to modify, 3d printable open source humanoid robot evolved by the community
phobos - An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API
paper_nava_2023_icra_fault-control-ironcub - Repository associated with the paper "Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot", published in IEEE ICRA 2023.
rbdl-orb - RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints