pymanoid
1.2
  • Examples
  • Interpolation
  • Forward kinematics
  • Inverse kinematics
  • Contact stability
  • Walking pattern generation
  • Numerical optimization
  • Simulation environment
  • Graphical user interface
  • References
pymanoid
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Welcome to pymanoid!¶

_images/logo.png
  • 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
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