GankenKun_pybullet

Video

Simulation on PyBullet http://www.youtube.com/watch?v=W16Qmjq5a-A

Preparation of the development environment

Ubuntu2004

sudo apt install python3-pip
pip install pybullet
pip install numpy
pip install control

main program

• GankenKun_velocity_control.py

Walking control with torso velocity input

library for GankenKun

GankenKun/

• kinematics.py
  Calculating the inverse kinematics based on the analytical solution
  (foot position -> joint angles)

• foot_step_planner.py
  Calculating the footsteps from the goal position

• foot_step_planner_v2.py
  Calculating the footsteps and zmpref from the given velocity command and initial states

• preview_control_v2.py
  Generating the trajectory of the center of mass from the zmpref based on the preview controller. Refer to yiqin/Preview-Control-Motion-Planning-in-Humanoid

• walking_v2.py
  Main walking engine and controller from given input and the initial state

What is GankenKun

GankenKun is an open platform humanoid robot developed by CIT Brains (Chiba Institute of Technology).
The robot had won the prize in RoboCup.

https://github.com/citbrains/OpenPlatform
https://github.com/citbrains/OpenPlatform_ver3_0 (now developing ver.4)

other programs (developed for understanding pybullet)

• display.py
  Displaying the humanoid robot GankenKun

• stretch.py
  Controlling the positions of joints

• camera.py
  Capturing the camera image

• Walk.py
  Checking to be able to walk (Just up and down each foot)

• inv_kine.py
  Solving the inverse kinematics

• display_COG.py
  Calculating the centor of gravity

• jacobian_test.py
  Calculating the Jacobian

• COG_jacobian.py
  Calculating the centor of gravity Jacobian

ZMP Walking Using Preview Control

References

• Maximo, M. R. (2015). Omnidirectional ZMP-Based Walking for a Humanoid Robot. Master's thesis, Aeronautics Institute of Technology.
• Kajita, S., Hirukawa, H., Harada, K., & Yokoi, K. (2016). Introduction to Humanoid Robotics (1st ed). Springer Publishing Company, Incorporated.
• Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2003). Biped walking pattern generation by using preview control of zero-moment point. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).
• Park, J., & Youm, Y. (2007). General ZMP Preview Control for Bipedal Walking. Proceedings 2007 IEEE International Conference on Robotics and Automation.

Walk Pattern

python GankenKun/foot_step_planner_v2.py 

Preview Control

python GankenKun/preview_control_v2.py 

Walk simulation

python GankenKun_velocity_control.py

For more detail

http://www.cit-brains.net/