Double pendulum human-robot leg model and control

Double pendulum leg model and control using Pinocchio library in Python. This is an assignment of Introduction to Legged Robots course at São Carlos School of Engineering @ USP, presented by T. Boaventura.

Dependencies

Simply follow the instructions below to install Pinocchio and Gepetto in your computer. This work has been developed using Ubuntu 20.04 with Python 3.8.10 installed.

1. Pinocchio installation
2. Gepetto installation
3. Python Control Library: You may need to upgrade your numpy and scipy packages first!

Acknowledgement

Special thanks to the original Simulation Pendulum script on Pinocchio repository examples.