https://github.com/anujsainarain/walking_man_lqr

This repository contains MATLAB code for simulating the walking motion of a humanoid robot using a Linear Quadratic Regulator (LQR) controller based on principles similar to those of an inverted pendulum.
https://github.com/anujsainarain/walking_man_lqr

inverted-pendulum linear-quadratic-regularator matlab matplotlib

Last synced: about 2 months ago
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This repository contains MATLAB code for simulating the walking motion of a humanoid robot using a Linear Quadratic Regulator (LQR) controller based on principles similar to those of an inverted pendulum.

• Host: GitHub
• URL: https://github.com/anujsainarain/walking_man_lqr
• Owner: anujsainarain
• License: mit
• Created: 2024-02-28T05:17:24.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2024-02-28T05:40:23.000Z (about 1 year ago)
• Last Synced: 2024-07-19T09:42:17.246Z (10 months ago)
• Topics: inverted-pendulum, linear-quadratic-regularator, matlab, matplotlib
• Language: MATLAB
• Homepage:
• Size: 6.84 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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# Walking Man Simulation with LQR Controller

This repository contains MATLAB code for simulating the walking motion of a humanoid robot using a Linear Quadratic Regulator (LQR) controller based on principles similar to those of an inverted pendulum.

## Files

1. **lqr_simulation.m**: MATLAB script that implements the LQR control algorithm to compute optimal control gains for the walking simulation.

2. **WalkingManSimulation.m**: MATLAB function for animating the walking motion of the humanoid robot based on the computed LQR control gains and principles similar to those of an inverted pendulum.

## Visualization 

![WalkingManSimulation](https://github.com/Amenephous/Walking_man_simulation/assets/48127920/3d55b544-bb5e-4cd7-aa92-2aa011b5ccc5)

## License

This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.