An agent for Upkie that combines wheeled balancing with inverse kinematics computed by Pink. This is the controller that runs in the first two videos of Upkie.
- Run the Bullet spine:
./start_simulation.sh - Run the agent:
make run_bullet
- Build spines and agent:
make build - Upload to your Upkie:
make upload - SSH into your Upkie
- Run the pi3hat spine:
make run_pi3hat_spine - Run the agent:
make run_pink_balancer