Biped Walking Control
Shanghai Jiao Tong University, 2007
Description
Implemented ZMP- and LIPM-based walking control using MATLAB Simulink SimMechanics.
Demos
Biped walking control based on LIPM
LIPM-based walking: generate CoM trajectory and calculate foot placement, then solve inverse kinematics.
Biped walking control based on ZMP
ZMP-based walking: search for good CoM and swing foot trajectories, then solve inverse kinematics.