VHIP balancing in Python

Python code for Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model.

The main script unrolls VHIP trajectories with different balance controllers and reproduces plots as in the paper:

This repository is a lighter implementation of the original script vhip_stabilization.py that was released with the paper.

Installation

The recommended way is to use pixi:

pixi install

Alternatively, install from PyPI:

pip install -e .

Usage

pixi run main

Or, in any environment where the project is installed:

python main.py

Citation

If you find this code or the paper useful, please consider citing it:

@inproceedings{caron2020icra,
  title = {Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model},
  author = {Caron, St{\'e}phane},
  booktitle = {IEEE International Conference on Robotics and Automation},
  url = {https://hal.archives-ouvertes.fr/hal-02289919},
  year = {2020},
  month = may,
  doi = {10.1109/ICRA40945.2020.9196715},
}

See also

• VHIP stabilization script: original Python prototype as a single script, with dependencies on OpenRAVE and pymanoid (now deprectated).
• VHIP walking controller: C++ version of the VHIP QP balancer that was validated on the HRP-4 humanoid robot.