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Tinymal / SimpleMan

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README
MIT

SimpleMan

介绍

开源人形机器人简单男人,简单、粗糙、快乐!

软件架构

软件架构说明,采用C++开发,Webots仿真,基于MPC完成站立步态控制,算法参考论文,并对MIT开源的代码进行修改:https://arxiv.org/pdf/2104.00065.pdf

仿真说明

需要自行安装Webots2021a,新版本请自行调整IMU坐标系,cmakelist文件可参考匹配自己的Webots和库路径:http://tinymal.cn/72e2/6683

MIT License Copyright (c) 2024 Tinymal Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

简介

开源人形机器人简单男人 展开 收起
C/C++
MIT
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