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Created a gait schedule and added a CoM task for the bipedal walking example

In this PR, I improved a bit the quality of the bipedal walking motion (you can see in this video The improvements are:

  • Defined a swing trajectory with a desired step-height.
  • Created multi-phases DDP for solving walking phases (with this method we solve it in few iterations).
  • Added a CoM reference to easily decouples the entire walking motion in few DDP problems.
  • Fixed a bug in the display.

Please note that I have to modified the log file since the problem has been changed

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