Simulation on PyBullet http://www.youtube.com/watch?v=W16Qmjq5a-A

Ubuntu2004

sudo apt install python3-pip
pip install pybullet
pip install numpy
pip install control

• GankenKun_velocity_control.py

Walking control with torso velocity input

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

• foot_step_planner_v2.py
  Calculating the footsteps and zmpref from the given velocity command and initial states

• preview_control_v2.py
  Generating the trajectory of the center of mass from the zmpref based on the preview controller. Refer to yiqin/Preview-Control-Motion-Planning-in-Humanoid

• walking_v2.py
  Main walking engine and controller from given input and the initial state

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

References

• Maximo, M. R. (2015). Omnidirectional ZMP-Based Walking for a Humanoid Robot. Master's thesis, Aeronautics Institute of Technology.
• Kajita, S., Hirukawa, H., Harada, K., & Yokoi, K. (2016). Introduction to Humanoid Robotics (1st ed). Springer Publishing Company, Incorporated.
• Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2003). Biped walking pattern generation by using preview control of zero-moment point. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).
• Park, J., & Youm, Y. (2007). General ZMP Preview Control for Bipedal Walking. Proceedings 2007 IEEE International Conference on Robotics and Automation.

python GankenKun/foot_step_planner_v2.py 

python GankenKun/preview_control_v2.py 

python GankenKun_velocity_control.py

http://www.cit-brains.net/