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 Conda:

conda create -f environment.yaml
conda activate vhip_light

Alternatively, you can install all dependencies from PyPI:

pip install cvxpy ipython matplotlib qpsolvers scipy

Usage

python main.py

See also

• vhip_stabilization.py: 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.