A simple balancing bipedal model was designed and trained. The PPO2 policy of Stable Baselines was used to train the model. Quaternion of the body together with feet-touch-to-ground information were used for input layer of ANN.
Click the image to see the balancing in Youtube.
For version 2.0 a PCB together with mechanical parts was designed:
Design and implementation of C++ basic software:
"Hello World" after assembly:
