GankenKun_pybullet

Video

Simulation on PyBullet
https://youtu.be/kJb6OzS1FoM
latter half: comment out sleep
Computer: Core i5 + GTX1060

RoboCup2019 (Real RoboCup Tournament)
https://youtu.be/kFJCTB69zTQ

Preparation of the development environment

Ubuntu2004

sudo apt install python3-pip
pip install pybullet
pip install numpy
pip install control
git clone https://github.com/citbrains/GankenKun_pybullet
cd GankenKun_pybullet
python GankenKun.py

Microsoft Windows (in Japanese)

main program

• GankenKun.py
  Walking control to the target position

library for GankenKun

GankenKun/

• kinematics.py
  Calculating the inverse kinematics based on the analytical solution
  (foot position -> joint angles)

• foot_step_planner.py
  Calculating the footsteps from the goal position

• preview_control.py
  Generating the trajectory of the center of mass from the footsteps based on the preview controller

• walking.py
  Calculating the trajectory of the foot from the goal position

What is GankenKun

GankenKun is an open platform humanoid robot developed by CIT Brains (Chiba Institute of Technology).
The robot had won the prize in RoboCup.

https://github.com/citbrains/OpenPlatform
https://github.com/citbrains/OpenPlatform_ver3_0 (now developing ver.4)

other programs (developed for understanding pybullet)

• display.py
  Displaying the humanoid robot GankenKun

• stretch.py
  Controlling the positions of joints

• camera.py
  Capturing the camera image

• Walk.py
  Checking to be able to walk (Just up and down each foot)

• inv_kine.py
  Solving the inverse kinematics

• display_COG.py
  Calculating the centor of gravity

• jacobian_test.py
  Calculating the Jacobian

• COG_jacobian.py
  Calculating the centor of gravity Jacobian

For more detail

http://www.cit-brains.net/