Welcome to pymanoid!

• Examples
  • Linear inverted pendulum stabilization
  • Inverse kinematics
  • Contact stability
    • Wrench friction cone
    • CoM static-equilibrium polygon
    • Multi-contact ZMP support areas
    • CoM acceleration cone
    • CoM robust static-equilibrium polytope
  • Horizontal walking
  • Multi-contact walking
  • VHIP stabilization
• Interpolation
  • Position
  • Orientation
• Forward kinematics
  • Rigid transformations
  • Rigid body model
  • Robot model
• Inverse kinematics
  • Tasks
  • Solver
    • Acceleration limits
  • Stance
  • Example
• Contact stability
  • Contact
  • Multiple contacts
  • Computing contact forces
• Walking pattern generation
  • Swing foot trajectory
  • Linear model predictive control
  • Nonlinear predictive control
• Numerical optimization
  • Quadratic programming
  • Nonlinear programming
• Simulation environment
  • Processes
  • Simulation
  • Camera recording
  • Making a new process
• Graphical user interface
  • Primitive functions
  • Convex polyhedra
  • Drawers
• References