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humanoid_walk: halfsteps_pattern_generator | walk_interfaces | walk_msgs | walk_tools

Package Summary

Documented

This stack gathers tools to generate walking movements for humanoids robots. It provides both C++ interfaces through walk_interfaces, ROS interfaces through walk_msgs and pattern generators algorithms.

humanoid_walk: halfsteps_pattern_generator | walk_interfaces | walk_msgs | walk_tools

Package Summary

Documented

This stack gathers tools to generate walking movements for humanoids robots. It provides both C++ interfaces through walk_interfaces, ROS interfaces through walk_msgs and pattern generators algorithms.

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Documentation

This stack provides both interfaces and implementations to generate balanced walk trajectories for a humanoid robot.

It is divided into interfaces:

...and implementation:

Additionally, walk_tools provides useful scripts when dealing with walking trajectories.

Half-steps pattern generator trajectories displayed in RViz

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2017-10-21 12:44