Abstract¶
The objective of this lecture is to understand the physics of balancing and how we can leverage them to design locomotion controllers.
Simulation¶
![Visualization of the LIPM walking controller on the HRP-4 humanoid robot](https://scaron.info/images/lipm-walking-sim-stairs.png)
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¶
Modeling¶
Discussion ¶
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