Story Arc
Prologue
Build the world with URDF & Gazebo.
Act I
Master the ROS control stack.
Act II
Unleash walking & balancing with ZMP.
Act III
Train a neural gait with PPO.
Epilogue
Visualize triumphs in RViz & rqt.
A ROS-powered humanoid playground
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Explore H-Bot
Build the world with URDF & Gazebo.
Master the ROS control stack.
Unleash walking & balancing with ZMP.
Train a neural gait with PPO.
Visualize triumphs in RViz & rqt.
URDF/Xacro model for balance and walking tests in ODE or Bullet.
Joint-trajectory, effort controllers, and sensor drivers.
Zero-Moment-Point controller and scripted walking sequences.
Gym-compatible wrapper with PPO gait training.