BaselineWalkingController
- Software
- Humanoids and robot learning
- Library
A humanoid walking controller built from standard biped methods, offering several baseline walking approaches on top of the mc_rtc framework.
Made by isri-aist.
Source on GitHub: github.com/isri-aist/BaselineWalkingController (opens in a new tab). Facts read at commit 9cba7e2 (opens in a new tab).
Licenses
- Code
- BSD-2-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-2-Clause) at commit 9cba7e2 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Built on mc_rtc, with Choreonoid as simulator and the JVRC1 sample robot model.
- Supports 3D walking, mass property error compensation, and integration with a footstep planner.
- Lets users switch between centroidal trajectory generation methods from CentroidalControlCollection.
- Offers a closed-loop MPC framework and an open-loop MPC plus stabilizer framework.
- Combines LIPM-based CoM trajectory generation, DCM-based ZMP feedback, wrench distribution, and foot damping control.
- Ships a Docker image with the latest controller, and CI runs dynamics simulation to verify walking.
Written by Robotheca from the project's README (opens in a new tab) at commit 9cba7e2.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 25 Mar 2026 on master
- Latest release
- None published on GitHub
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.