chenzhike110 / Humanoid-Walking-Pattern-Generator

Use Traditional Method ZMP with Pinocchio and Learning Method PPO to generate Walking Pattern for Humanoid Robot

Humanoid-Walking-Pattern-Generator

Use Traditional Method ZMP and Learning Method PPO to generate Walking Pattern for Humanoid Robot

Requirements

• Pinocchio
• gym
• Pybullet
• Numpy

Env

• Simple Robot with eight force sensors under the feet

ZMP

• 2D inverted pendulum

  

  There are several differential equations as below

  

• 2D linear inverted pendulum

  When = 0 and f = Mg/cos, the Centroid will remain the same height as the pendulum falling. Because f * cos= Mg .

  

  In the horizontal direction

  

  given initial state x(0) x'(0) and target state x(t) x'(t) compute used time

  

  orbital energy

  

• Change Feet

  Given orbital energy