Walking pattern generation examples using zero moment point method
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Updated
Oct 1, 2020 - Python
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zmp
Here are 5 public repositories matching this topic...
Read "humanoid robot" and implement some algorithms
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Jan 8, 2018 - Python
Whole-body motion planning for Unitree G1 humanoid in MuJoCo - ZMP preview control, A* footstep planning, MPC balance (49% energy reduction), RL locomotion, and Jacobian IK manipulation
python reinforcement-learning robotics trajectory-optimisation inverse-kinematics mpc whole-body-control humanoid-robot zmp mujoco motion-planing footstep-planning unitree bipedal-walking
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Jan 2, 2026 - Python
Implementation of Omnidirectional Walk Using Zero Moment Point (ZMP) and Preview Control Method
walking bipedal humanoid biped zmp pybullet humanoid-walking walking-pattern-generation zmp-preview-control
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Nov 28, 2021 - Python
Code used to obtain the results for my Bachelor's thesis
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May 17, 2018 - Python
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