Variable-height inverted pendulum balancing in Python.
Project description
VHIP balancing in Python
Python code for Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model.
The main script unrolls VHIP trajectories with different balance controllers and reproduces plots as in the paper:
This repository is a lighter implementation of the original script vhip_stabilization.py that was released with the paper.
Installation
The recommended way is to use Conda:
conda create -f environment.yaml
conda activate vhip_light
Alternatively, you can install all dependencies from PyPI:
pip install cvxpy ipython matplotlib qpsolvers scipy
Usage
python main.py
See also
- vhip_stabilization.py: original Python prototype as a single script, with dependencies on OpenRAVE and pymanoid (now deprectated).
- VHIP walking controller: C++ version of the VHIP QP balancer that was validated on the HRP-4 humanoid robot.
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