********
Examples
********

Linear inverted pendulum stabilization
--------------------------------------

.. automodule:: lip_stabilization
    :members:

Inverse kinematics
------------------

.. automodule:: inverse_kinematics
    :members:

Contact stability
-----------------

Wrench friction cone
~~~~~~~~~~~~~~~~~~~~~

.. automodule:: wrench_friction_cone
    :members:

CoM static-equilibrium polygon
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. automodule:: com_static_polygon
    :members:

Multi-contact ZMP support areas
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. automodule:: zmp_support_area
    :members:

CoM acceleration cone
~~~~~~~~~~~~~~~~~~~~~

.. automodule:: com_accel_cone
    :members:

CoM robust static-equilibrium polytope
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. automodule:: com_robust_static_polytope
    :members:

Horizontal walking
------------------

.. automodule:: horizontal_walking
    :members:

Multi-contact walking
---------------------

.. automodule:: multi_contact_walking
    :members:

VHIP stabilization
------------------

.. automodule:: vhip_stabilization
    :members: