Spryped

An Impedance Controlled Bipedal Robot

Table of Contents

• Setup
• Info

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Setup

1. Clone this directory wherever you want.

git clone https://github.com/LocknutBushing/spryped.git

2. Make sure both Python 3.7 and pip are installed.

sudo apt install python3.7
sudo apt-get install python3-pip
python3.7 -m pip install --upgrade pip

2. I recommend setting up a virtual environment for this, as it requires the use of a number of specific Python packages.

sudo apt-get install python3.7-venv
cd spryped
python3.7 -m venv env

For more information on virtual environments: https://docs.python.org/3/library/venv.html

3. Activate the virtual environment, and then install numpy, scipy, matplotlib, transforms3d, pyquaternion, PyBullet, and CasADi.

source env/bin/activate
python3.7 -m pip install numpy scipy matplotlib transforms3d pyquaternion pybullet casadi

Don't use sudo here if you can help it, because it may modify your path and install the packages outside of the venv.

Here is the PyBullet tutorial.

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Info

This is the Github repo for a bipedal robot that I am developing.

To run the code:

python3.7 run.py

Just make sure your venv is activated first.