Overview
This is an implementation of omnidirectional walking pattern generator of humanoid robot. The input is step length in x and y direction and step rotation. The output is COM trajectory, left foot and right foot trajectory in 3D space (x, y, z, roll, pitch, yaw). This is a basic concept how to implement a walk engine on humanoid robot. This code can be expanded with inverse kinematics solver to make a robot walk in desired command.
Example Result
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cmd_x = 0.05, cmd_y = 0.00, and cmd_a = 0.00
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cmd_x = 0.05, cmd_y = 0.02, and cmd_a = 0.00
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cmd_x = 0.05, cmd_y = 0.00, and cmd_a = 10 degrees
