| Name | vhip_light JSON |
| Version |
1.0.0
JSON |
| download |
| home_page | None |
| Summary | Variable-height inverted pendulum balancing in Python. |
| upload_time | 2024-02-16 18:07:47 |
| maintainer | None |
| docs_url | None |
| author | None |
| requires_python | >=3.8 |
| license | None |
| keywords |
inverse
kinematics
pinocchio
|
| VCS |
 |
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
|
| coveralls test coverage |
No coveralls.
|
# VHIP balancing in Python
Python code for [Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model](https://arxiv.org/abs/1909.07732).
The main script unrolls VHIP trajectories with different balance controllers and reproduces plots as in the paper:
This repository is a lighter implementation of the original script [vhip\_stabilization.py](https://github.com/stephane-caron/pymanoid/blob/2cbce7441f377a18119837dfeee51662654c6ce7/examples/vhip_stabilization.py) that was released with the paper.
## Installation
The recommended way is to use Conda:
```console
conda create -f environment.yaml
conda activate vhip_light
```
Alternatively, you can install all dependencies from PyPI:
```console
pip install cvxpy ipython matplotlib qpsolvers scipy
```
## Usage
```console
python main.py
```
## See also
- [vhip\_stabilization.py](https://github.com/stephane-caron/pymanoid/blob/2cbce7441f377a18119837dfeee51662654c6ce7/examples/vhip_stabilization.py): original Python prototype as a single script, with dependencies on OpenRAVE and pymanoid (now deprectated).
- [VHIP walking controller](https://github.com/stephane-caron/vhip_walking_controller): C++ version of the VHIP QP balancer that was validated on the HRP-4 humanoid robot.
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