Forward, Backward, and Sideway Walking

This project implements forward, backward, and sideways walking capabilities for humanoid robots using DCM-based trajectory planning.

Overview

Multi-directional walking is essential for humanoid robots to navigate complex environments. This project demonstrates the implementation of walking patterns in multiple directions using the DCM Planner framework.

Walking Modes

Forward Walking

Forward walking is the most common and natural walking pattern for humanoid robots.

Backward Walking

Backward walking requires careful balance management and is useful for navigation in tight spaces.

Sideways Walking

Sideways walking enables lateral movement, which is important for obstacle avoidance and precise positioning.

Results