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?

• kayra

  6 37 8.3 G-code

  an easy to modify, 3d printable open source humanoid robot evolved by the community

Improving the walking trajectory: from what I gather from servoControl.json your walking trajectory doesn't take physics into account, which is totally fine. Small bipedal walkers can walk fully open loop, that is for instance what most teams in the Humanoid League Kid-Size of the RoboCup are doing.

• lipm_walking_controller

  2 214 2.1 C++

  Walking controller for humanoid robots based on inverted pendulum tracking

I started a related note on this here but it does not describe the pipeline end to end. There is C++ code that implements the pipeline end to end in lipm_walking_controller. Functions are documented and we detailed several technical points in the Discussions forum as well, so you can find some info there. Even if it's not for implementation it might quench your curiosity, or spawn new questions ;)

• InfluxDB

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• pinocchio

  9 1,491 9.3 C++

  A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

  

Open-loop walking + physics: (e.g. ZMP-based) one thing you can do (that does not imply adding an IMU to Kayra and going for feedback) is include some walking physics into your walking trajectory generation. To give you an idea, I've written a tutorial on doing that in Python a couple of years ago. The libraries in this tutorial are deprecated now, but I'm working on an equivalent stack at github.com/tasts-robots using more durable software like pinocchio. The libs are still WIP but if you are interested in exploring that dev path (i.e. making a ZMP-based trajectory generator for Kayra) I can support you and help adapt them (because I want that SW to be useful for a maximum number of people).

• upkie_description

  1 32 6.9 Python

  URDF model for Upkie wheeled bipeds

  

upkie_description

• upkie

  2 109 9.9 Python

  Open-source wheeled biped robots

  

git clone https://github.com/tasts-robots/upkie_locomotion.git cd upkie_locomotion ./tools/bazelisk run -c opt //agents/blue_balancer:bullet

• pink

  3 143 9.3 Python

  Python inverse kinematics based on Pinocchio (by stephane-caron)

  

pink

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