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Gravity Compensate(gravity)

Gravity Compensate

bipedal walking record 3

Walking(Incorrect trajectory)

12DOF balance(swing)

Balancing a 12 DOF bipedal robot by using hybrid control scheme. #ros2 #gazebo #ALIP Model #Hybrid Control(Kinematics Dynamics) If you have any suggestions about implementing dynamic control of bipedal robots in gazebo. Welcome to contact me: email: henry123108@gmail.com

12DOF hybrid

利用混合控制（4自由度運動學 2自由度動力學 ）實現6自由度單腳模型平衡 這次是真的把腳底約束解除！！！

3DOF_Tra(0520)

3DOF_Reg(0520)

3DOF_PD(0429)

Al record test_1

Angular Momentum

HighGain

LowGain

Balance (PI Controller)

Balance(Trajectory)

Firmware simulation

Step Command(1004)

Bipedal Robot(Simulation)

Ros Gazebo

Simulink＆Gazebo

Ros2 & Simulink

Ros2 & Matlab