Open loop walk engine for small humanoid robots
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Docs Docs/parameter Oct 8, 2015
Example Initial implementation Oct 4, 2015
CubicSpline.cpp
CubicSpline.hpp
HumanoidModel.cpp Initial implementation Oct 4, 2015
HumanoidModel.hpp Initial implementation Oct 4, 2015
IKWalk.cpp Initial implementation Oct 4, 2015
IKWalk.hpp Initial implementation Oct 4, 2015
LICENSE README and LICENSE Oct 7, 2015
LegIK.cpp
LegIK.hpp Initial implementation Oct 4, 2015
Polynom.cpp Initial implementation Oct 4, 2015
Polynom.hpp Initial implementation Oct 4, 2015
README.md Docs/kinematics Oct 8, 2015
Spline.cpp Initial implementation Oct 4, 2015
Spline.hpp Initial implementation Oct 4, 2015

README.md

IKWalk

Model

The IKWalk library is a simple C++ implementation of an open loop walk engine for small and mid-size humanoid robots. Motor target positions are generated online based on splines in Cartesian space and inverse kinematics. No ZMP is used but several parameters have to be manually tunned.

The walk engine allows for omnidirectional locomotion and was able to walk on artificial grass at RoboCup 2015 Kid-Size competition in China.

The only dependency is the linear algebra library Eigen3

Documentation

Example

Here is a simple example usage of the walk engine. A set of working parameters used during RoboCup 2015 on Sigmaban humanoid platform is exposed.

License

IKWalk is under MIT License, please read the LICENSE file for further details. Do not hesitate to fork this repository and customize it!

Model