https://github.com/stephane-caron/vhip_light
Variable-height inverted pendulum balancing in Python
https://github.com/stephane-caron/vhip_light
Last synced: about 2 months ago
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Variable-height inverted pendulum balancing in Python
- Host: GitHub
- URL: https://github.com/stephane-caron/vhip_light
- Owner: stephane-caron
- License: gpl-3.0
- Created: 2024-02-16T15:36:00.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-03-28T11:02:48.000Z (2 months ago)
- Last Synced: 2025-04-02T01:03:16.558Z (about 2 months ago)
- Language: Python
- Homepage:
- Size: 61.5 KB
- Stars: 3
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# VHIP balancing in Python
Python code for [Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model](https://arxiv.org/abs/1909.07732).
The main script unrolls VHIP trajectories with different balance controllers and reproduces plots as in the paper:
This repository is a lighter implementation of the original script [vhip\_stabilization.py](https://github.com/stephane-caron/pymanoid/blob/2cbce7441f377a18119837dfeee51662654c6ce7/examples/vhip_stabilization.py) that was released with the paper.
## Installation
The recommended way is to use Conda:
```console
conda create -f environment.yaml
conda activate vhip_light
```
Alternatively, you can install all dependencies from PyPI:
```console
pip install cvxpy ipython matplotlib qpsolvers scipy
```
## Usage
```console
python main.py
```
## Citation
If you find this code or the paper useful, please consider citing it:
```bibtex
@inproceedings{caron2020icra,
title = {Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model},
author = {Caron, St{\'e}phane},
booktitle = {IEEE International Conference on Robotics and Automation},
url = {https://hal.archives-ouvertes.fr/hal-02289919},
year = {2020},
month = may,
doi = {10.1109/ICRA40945.2020.9196715},
}
```
## See also
- [VHIP stabilization script](https://github.com/stephane-caron/pymanoid/blob/2cbce7441f377a18119837dfeee51662654c6ce7/examples/vhip_stabilization.py): original Python prototype as a single script, with dependencies on OpenRAVE and pymanoid (now deprectated).
- [VHIP walking controller](https://github.com/stephane-caron/vhip_walking_controller): C++ version of the VHIP QP balancer that was validated on the HRP-4 humanoid robot.