Double pendulum leg model and control using Pinocchio library in Python. This is an assignment of Introduction to Legged Robots course at São Carlos School of Engineering @ USP, presented by T. Boaventura.
Simply follow the instructions below to install Pinocchio and Gepetto in your computer. This work has been developed using Ubuntu 20.04 with Python 3.8.10 installed.
- Pinocchio installation
- Gepetto installation
- Python Control Library: You may need to upgrade your numpy and scipy packages first!
Special thanks to the original Simulation Pendulum script on Pinocchio repository examples.