This is the code to simulate different movement algorithms of the humanoid robot HOAP-3. The simulator is OpenRAVE. It was developed during my PhD thesis.
Folder "Models" contains the CAD models for the robot and the environment.
Folder "head_robot_path_planning" contains a simulation of a path planning algorithm called Bidirectional Random Rapidly-Exploring Trees (Bi-RRT).
Folder "hoap_navigation" contains a simulation of a biped walking algorithm called Cart-Table. It is one of the most used methods for walking generation in humanoids.
Folder "videos" contains different videos of the experiments.
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