lipm_walking_controller
upkie_description
| lipm_walking_controller | upkie_description | |
|---|---|---|
| 2 | 1 | |
| 216 | 32 | |
| - | - | |
| 2.1 | 6.9 | |
| 9 months ago | 3 months ago | |
| C++ | Python | |
| BSD 2-clause "Simplified" License | Apache License 2.0 |
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
lipm_walking_controller
-
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:
upkie_description
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.
pink - Python inverse kinematics based on Pinocchio
champ_setup_assistant - CHAMP Package Config Generator
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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.
robot_descriptions.py - Access 85+ robot descriptions from the main Python robotics frameworks
PCL - Point Cloud Library (PCL)
MRPT - :zap: The Mobile Robot Programming Toolkit (MRPT)