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Upkie agent that can balance and crouch

License: Apache License 2.0

Python 92.01% Makefile 4.57% Shell 3.42%
inverse-kinematics legged-robots locomotion pid-control python robotics wheeled-biped

pink_balancer's Introduction

Pink balancer

An agent for Upkie that combines wheeled balancing with inverse kinematics computed by Pink. This is the controller that runs in the first two videos of Upkie.

Run in simulation

  • Run the Bullet spine: ./start_simulation.sh
  • Run the agent: make run_bullet

Run on the real robot

  • Build spines and agent: make build
  • Upload to your Upkie: make upload
  • SSH into your Upkie
  • Run the pi3hat spine: make run_pi3hat_spine
  • Run the agent: make run_pink_balancer

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