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VHIP balancing in Python

Python code for Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model.

The main script unrolls VHIP trajectories with different balance controllers and reproduces plots as in the paper:

image

This repository is a lighter implementation of the original script vhip_stabilization.py that was released with the paper.

Installation

The recommended way is to use Conda:

conda create -f environment.yaml
conda activate vhip_light

Alternatively, you can install all dependencies from PyPI:

pip install cvxpy ipython matplotlib qpsolvers scipy

Usage

python main.py

See also