https://github.com/neka-nat/humanoid_robot

Read "humanoid robot" and implement some algorithms
https://github.com/neka-nat/humanoid_robot

biped humanoid-robot python robotics zmp

Last synced: 3 months ago
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Read "humanoid robot" and implement some algorithms

• Host: GitHub
• URL: https://github.com/neka-nat/humanoid_robot
• Owner: neka-nat
• Created: 2018-01-06T15:36:12.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2018-01-08T15:37:58.000Z (over 7 years ago)
• Last Synced: 2025-03-27T00:23:08.697Z (4 months ago)
• Topics: biped, humanoid-robot, python, robotics, zmp
• Language: Python
• Homepage:
• Size: 2.14 MB
• Stars: 9
• Watchers: 1
• Forks: 3
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Contributing: docs/CONTRIBUTING.md

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README

        
# Humanoid robot algorithms

## Linear Inverted Pendulum Simulation 2D

This script is very simple Linear Inverted Pendulum simulation 2D.

### Walk on a flat ground

![lip2d](lin_inv_pend_2d/lip2d.gif)

### Climb stairs

![lip2d_stair](lin_inv_pend_2d/lip2d_stair.gif)

## Linear Inverted Pendulum Simulation 3D

### Step Parameter

|n   |   1|   2|   3|   4|   5|

|:---|:---|:---|:---|:---|:---|

|s_x| 0.0| 0.3| 0.3| 0.3| 0.0|

|s_y| 0.2| 0.2| 0.2| 0.2| 0.2|

### Result

![lip3d](lin_inv_pend_3d/lip3d.png)

![lip3d](lin_inv_pend_3d/lip3d_top.png)