/LeggedRobotsForBullet

Bipedal and Quadrupedal Walking Robot in PyBullet

Primary LanguagePythonMIT LicenseMIT

LeggedRobot

This repository is a walking robot simulator using pybullet.

Requirements

  • PyBullet
  • python-control
  • SciPy

These packages can be installed with pip.

pip install pybullet
pip install control
pip install scipy

Bipedal Example

Preview Control

example_preview_control.py

result

Quadrupedal Example

Inverse Kinematics

example_stand_up.py

result