humanoid and legged robots

biped / walked / humanoid / legged

locomotion

ZMP Preview Control

footstep planning

Humanoid Gait Optimization： 步态优化

biped_trajectory_optimization

• biped_trajectory_optimization

TOWR

TOWR: Trajectory Optimization for WalkingRobots

A light-weight and extensible C++ library for trajectory optimization for legged robots.

• source code
• Gait and Trajectory Optimization for legged systems through Phase-based Endeffector Parameterization
• author mainpage
• PhD Thesis: Optimization-based motion planning for legged robots.
• video

ref

• Video
  • Tutorial: Gait and Trajectory Optimization for Legged Robots

• course

  • COMS 6731 HUMANOID ROBOTS

• paper

  • Introduction to Humanoid Robotics
    • code -matlab-github
  • 2002 - Hybrid Zero Dynamics of Planar Bipedal Walking
  • Trajectory Optimization of 5-Link Biped Robot Using Beetle Antennae Search
    • BAS: Beetle Antennae Search Algorithm for Optimization Problems
  • Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization

• projects

  • Pnc: Planning and Control Algorithms for Robotics: Versatile Locomotion Planning and Control for Humanoid Robots
  • PyPnC
  • towr: A light-weight and extensible C++ library for trajectory optimization for legged robots
  • towrplus
  • bipedal-locomotion-framework
  • ikwalk: Open loop walk engine for small humanoid robots
  • humanoid gait optimization-matlab
  • ZMP-Preview-Control-WPG
  • humanoid_robot
  • gym - BipedalWalker
  • Bilevel Planner
• biped
  • Planar-Bipedal-Walker
  • python implementation of passive dynamic walking
  • biped_trajectory_optimization
  • TROPIC: TRajectory OPtimization In CasADi