https://github.com/stephane-caron/vhip_walking_controller

Walking controller based on variable-height inverted pendulum tracking
https://github.com/stephane-caron/vhip_walking_controller

c-plus-plus humanoid-robot mc-rtc robotics walking-controller

Last synced: 3 months ago
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Walking controller based on variable-height inverted pendulum tracking

• Host: GitHub
• URL: https://github.com/stephane-caron/vhip_walking_controller
• Owner: stephane-caron
• License: bsd-2-clause
• Archived: true
• Created: 2019-09-22T15:53:01.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2022-11-23T13:32:29.000Z (over 2 years ago)
• Last Synced: 2025-02-15T14:59:03.559Z (3 months ago)
• Topics: c-plus-plus, humanoid-robot, mc-rtc, robotics, walking-controller
• Language: C++
• Homepage:
• Size: 301 KB
• Stars: 10
• Watchers: 2
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • License: LICENSE
  • Citation: CITATION.cff
  • Authors: AUTHORS

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README

        
# VHIP Walking Controller

Source code of the controller used in the experiments of [Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model](https://arxiv.org/abs/1909.07732) ([pdf](https://arxiv.org/pdf/1909.07732)).

## Ressources

See the documentation of the [LIPM walking controller](https://github.com/stephane-caron/lipm_walking_controller):

- [Installation](https://github.com/stephane-caron/lipm_walking_controller#installation)

- [Usage](https://github.com/stephane-caron/lipm_walking_controller#usage)

- [Wiki](https://github.com/stephane-caron/lipm_walking_controller/wiki)

See also [COMMITS.md](COMMITS.md) for a list of dependency commits that yield a working build of the project.