Walking pattern generator for a biped robot (HRP4) based on MPC (Model-Predictive Control). It includes rotations of the feet and torso. Generates trajectories for feet and CoM which can be tracked with a whole-body controller.
Needs qpOASES solver python package installed, numpy, scipy and matplotlib.
From the root directory of the project type ./walking/loop.py.
Walking pattern with feet rotation
Generated feet and CoM trajectories
