ZMP Preview Control

This is the Python implementation of ZMP Preview Control approach for biped robot control.

Required Python 3.6+, and use the following commands to install reqired packages:

pip install numpy, control, matplotlib

代码配备了中文博客，详见：双足机器人ZMP预观控制算法介绍及代码实现

Basic ZMP preview control approach

Reference paper:

1. Kajita, Shuuji, et al. "Biped walking pattern generation by using preview control of zero-moment point" in 2003 IEEE International Conference on Robotics and Automation (Cat. No. 03CH37422). Vol. 2. IEEE, 2003.
2. Book：”Introduction to Humanoid Robotics” by Kajita, Shuuji. 中文译名为《仿人机器人》，可关注公众号后，在后台回复【HR】获取书籍的下载链接。

Improved ZMP preview control approach

Reference paper:

1. Jonghoon Park, Youngil Youm, “General ZMP Preview Control for Bipedal Walking” in Proceedings 2007 IEEE International Conference on Robotics and Automation.

Experiments

Basic ZMP preview control

Improved ZMP preview control