Unitree_G1_Stabilization

This Git repository provides a Python script using the Pinocchio library and the Unitree G1 humanoid robot model

Dependencies

To install all requirements you can run

pip install -r requirements.txt

• meshcat >= 0.0.8

• Pinocchio>=3.3.1

• robot_descriptions >=1.14.0

• shapely >=2.0.6

Task 1.1

This part focuses on calculating the contact forces and joint torques for the robot standing on one foot in a given configuration. Additionally, it checks whether the configuration is stable or not based on the Zero Moment Point (ZMP). In this case, stability is determined by verifying if the projection of the Center of Mass (CoM) lies within the support polygon generated by the standing foot.

Unitree G1 standing on one foot

Support polygon (considered contact points)

Task 1.2

This part simulate and visualize robot using PD controller for given stable configuration

Simulation for stading on one foot polygon

Task 1.3

Method for finding stable configuration, closest to the given. Check here.