Modeling and control of legged locomotion

Abstract¶

The objective of this lecture is to understand the physics of balancing and how we can leverage them to design locomotion controllers.

Content¶

Slides

Simulation¶

On Linux, you can run the humanoid walking controller in a simulator by:

$ xhost + # for X11 forwarding
$ docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} \
    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    stephanecaron/lipm_walking_controller \
    lipm_walking --staircase

References¶