This repository contains a Julia package that implements the 3D Linear Inverted Pendulum Mode walking model proposed by Kajita et. al. IROS 2001
lipm can be added via the Julia package manager.
Open a REPL and type ]
Next type add https://github.com/alphonsusadubredu/lipm.jl and press Enter to install the package and its dependencies.
This example usage can be found at examples/walk_to_linear_position.jl
using lipm
init_position = [0.0, 0.0, 0.0]
goal_position = [5.0, 0.0, 0.0]
X = move_to_position(init_position; goal_position=goal_position)
animate_walking_trajectory(X)
The simulation is rendered at a URL that looks like http://127.0.0.1:XXXX in your REPL.
Navigate to that URL in your browser to see the robot walk as shown below.
This implementation is heavily inspired by Chauby's Python implementation