Modeling and control of legged locomotion

Stéphane Caron. Fall 2023 class at École normale supérieure, Paris.


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


pdf Slides


Visualization of the LIPM walking controller on the HRP-4 humanoid robot

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


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