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This stack provides both interfaces and implementations to generate balanced walk trajectories for a humanoid robot.

It is divided into interfaces:

...and implementation:

Additionally, walk_tools provides useful scripts when dealing with walking trajectories.

Half-steps pattern generator trajectories displayed in RViz

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Use GitHub to report a bug or submit an enhancement.

Wiki: humanoid_walk (last edited 2012-03-09 18:44:58 by ThomasMoulard)