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isri-aist / BaselineWalkingController

Humanoid walking controller with various baseline methods
https://isri-aist.github.io/BaselineWalkingController
BSD 2-Clause "Simplified" License
110 stars 19 forks source link

Walking with heel/toe contacts #5

Closed mmurooka closed 1 year ago

mmurooka commented 1 year ago

https://user-images.githubusercontent.com/6636600/210354177-14cc67aa-6bfc-429c-bcf3-8eb24d2fb4d2.mp4

(0.5x playback speed)

It was confirmed that it contributes to reducing the velocity of the leg pitch joints.