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lipm_walking_controller reviews and mentions
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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:
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stephane-caron/lipm_walking_controller is an open source project licensed under BSD 2-clause "Simplified" License which is an OSI approved license.
The primary programming language of lipm_walking_controller is C++.
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