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.
The recommended way is to use Conda:
conda create -f environment.yaml
conda activate vhip_lightAlternatively, you can install all dependencies from PyPI:
pip install cvxpy ipython matplotlib qpsolvers scipypython main.pyIf you find this code or the paper useful, please consider citing it:
@inproceedings{caron2020icra,
title = {Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model},
author = {Caron, St{\'e}phane},
booktitle = {IEEE International Conference on Robotics and Automation},
url = {https://hal.archives-ouvertes.fr/hal-02289919},
year = {2020},
month = may,
doi = {10.1109/ICRA40945.2020.9196715},
}- VHIP stabilization script: 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.