Wangxinhui-bot / Planar-Bipedal-Walker

Implementation of a planar bipedal walking using Hybrid Zero Dynamics in Python

Planar-Bipedal-Walker

Implementation of planar bipedal walkers using Hybrid Zero Dynamics in Python.

Working at progress. Currently get a workable and correct hybrid dynamics and control for 3-link walkers and finish a rough animation for visualization purpose, shown in gif file below. More to come.

Future Plan:

1. 5-link walker
2. Trajectory Optimization using pydrake (currently get the coefficients directly from literature)
3. Hybrid Zero Dynamics Implementation. More theory behind the model
4. Other control (trajectory-following) method including PID and MPC control
5. More graceful simulation using pydrake or other tools.

Note: Developing part-time. It takes time.

Visualization