ZMP-Preview-Control-WPG
ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot
This is a source code of biped walking pattern generator with ZMP preview control.
The source code is written in Matlab and Python.
Matlab is used to calculate gain matrix then Python is used to simulate the system by feedforward control.
Matlab result example:
ZMP and CoM Trajectory in x direction
ZMP and CoM Trajectory in y direction
ZMP and CoM Trajectory in x and y direction
Python result example:
ZMP and CoM trajectory in x and y direction
For deep understanding please refer to the following papers. All variable in source code refer to notation in these papers.