This library is intended to implement walking pattern generator algorithms for humanoid robots.
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| Stepping Over |
| This group implements the stepping over algorithm as presented by Bjorn Verrelst Verrelst2006 .
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| Preview Control |
| This group implements the preview control algorithm for the cart-model as presented by Kajita in Kajita2003 .
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| Geometry |
| This group implements some basic geometrical tools for the Pattern Generator.
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| Interface for the PatternGeneratorJRL |
| This group reinforces the independance between the internal structure of the Walking Pattern Generator and external algorithms.
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This library is intended to implement walking pattern generator algorithms for humanoid robots.