Simulation on PyBullet
https://youtu.be/kJb6OzS1FoM
latter half: comment out sleep
Computer: Core i5 + GTX1060
RoboCup2019 (Real RoboCup Tournament)
https://youtu.be/kFJCTB69zTQ
Ubuntu2004
sudo apt install python3-pip
pip install pybullet
pip install numpy
pip install control
git clone https://github.com/citbrains/GankenKun_pybullet
cd GankenKun_pybullet
python GankenKun.py
Microsoft Windows (in Japanese)
GankenKun/
kinematics.py
Calculating the inverse kinematics based on the analytical solution
(foot position -> joint angles)
foot_step_planner.py
Calculating the footsteps from the goal position
preview_control.py
Generating the trajectory of the center of mass from the footsteps based on the preview controller
walking.py
Calculating the trajectory of the foot from the goal position
GankenKun is an open platform humanoid robot developed by CIT Brains (Chiba Institute of Technology).
The robot had won the prize in RoboCup.
https://github.com/citbrains/OpenPlatform
https://github.com/citbrains/OpenPlatform_ver3_0 (now developing ver.4)
display.py
Displaying the humanoid robot GankenKun
stretch.py
Controlling the positions of joints
camera.py
Capturing the camera image
Walk.py
Checking to be able to walk (Just up and down each foot)
inv_kine.py
Solving the inverse kinematics
display_COG.py
Calculating the centor of gravity
jacobian_test.py
Calculating the Jacobian
COG_jacobian.py
Calculating the centor of gravity Jacobian