This library is intended to implement walking pattern generator algorithms for humanoid robots. More...
Collaboration diagram for JRL Walking Pattern Generator Library (WalkGenJRL):
Modules | |
| Stepping Over | |
| This group implements the stepping over algorithm as presented by Bjorn Verrelst Verrelst2006 . | |
| Preview Control | |
| This group implements the preview control algorithm for the cart-model as presented by Kajita in Kajita2003 . | |
| Geometry | |
| This group implements some basic geometrical tools for the Pattern Generator. | |
| Interface for the PatternGeneratorJRL | |
| This group reinforces the independance between the internal structure of the Walking Pattern Generator and external algorithms. The main class is PatternGeneratorInterface which allow to handle very simply the WPG. | |
Classes | |
| class | PatternGeneratorJRL::ZMPPreviewControlWithMultiBodyZMP |
Detailed Description
This library is intended to implement walking pattern generator algorithms for humanoid robots.
