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ZMP Preview Control

This is the Python implementation of ZMP Preview Control approach for biped robot control.

Required Python 3.6+, and use the following commands to install reqired packages:

pip install numpy, control, matplotlib

代码配备了中文博客,详见:双足机器人ZMP预观控制算法介绍及代码实现

Basic ZMP preview control approach

Reference paper:

  1. Kajita, Shuuji, et al. "Biped walking pattern generation by using preview control of zero-moment point" in 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03CH37422). Vol. 2. IEEE, 2003.
  2. Book:”Introduction to Humanoid Robotics” by Kajita, Shuuji. 中文译名为《仿人机器人》,可关注公众号后,在后台回复【HR】获取书籍的下载链接。

Improved ZMP preview control approach

Reference paper:

  1. Jonghoon Park, Youngil Youm, “General ZMP Preview Control for Bipedal Walking” in Proceedings 2007 IEEE International Conference on Robotics and Automation.

Experiments

Basic ZMP preview control

Improved ZMP preview control

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Python implementation for ZMP preview control

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