Walking

How to use Pinocchio library

First, we learned how to use pinocchio library for homogeneous transforms and control of robots(Humanoid).

How to handle TSID

Learn how to use Task Space Inverse Dynamics(TSID) for a posture of a humanoid robot.

Walking Model

Learn linear inverted pendulum model(LIPM) for walking strategy.
Design MPC from given a tajectory for foot steps.

Walking video