ub-clean-test 0.13.0

机器人控制框架

# ub-clean-test

[中文版](#chinese) | [English](#english)

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## <a id="chinese"></a>中文版

一个模块化的机器人控制框架。

### 功能
- **基础控制**：PID、LQR、自适应控制
- **运动学**：逆运动学（速度级、位置级）
- **轨迹规划**：五次多项式平滑运动
- **路径规划**：RRT 快速扩展随机树
- **状态估计**：卡尔曼滤波
- **强化学习**：PPO 近端策略优化
- **自适应控制可视化**：（0.11.0 新增） 动态展示参数调整过程
- **线性倒立摆 (LIPM)**：双足机器人步态规划基础 (0.12.0 新增)
- **零力矩点 (ZMP)**：双足机器人稳定性判断 (0.13.0 新增)

### 安装

pip install ub-clean-test

### 快速开始
```python
from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()

示例

• demo_trajectory.py：轨迹规划演示
• demo_rrt.py：RRT 路径规划演示
• demo_ppo.py：PPO 强化学习演示
• demo_kalman.py：卡尔曼滤波演示
• demo_adaptive.py：自适应控制演示（0.11.0 新增）
• demo_lipm.py：线性倒立摆演示 (0.12.0 新增)
• demo_zmp.py：ZMP 稳定性演示 (0.13.0 新增)

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English Version

A modular robot control framework.

Features

• Control: PID, LQR, adaptive control
• Kinematics: Forward/Inverse kinematics
• Trajectory Planning: Quintic polynomial
• Path Planning: RRT (Rapidly-exploring Random Tree)
• State Estimation: Kalman filter
• Reinforcement Learning: PPO (Proximal Policy Optimization)
• Adaptive Control Visualization: (new in 0.11.0) Dynamic visualization of gain adaptation
• Linear Inverted Pendulum Model (LIPM): Foundation for bipedal robot gait planning (new in 0.12.0)
• Zero Moment Point (ZMP): Bipedal robot stability criterion (new in 0.13.0)

Installation

pip install ub-clean-test

Quick Start

from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()

Modules

· core/: Core algorithms (Kalman filter, PID, etc.) · planning/: Path planning (A*, RRT) · learning/: Reinforcement learning (PPO)

Examples

• demo_trajectory.py: Trajectory planning demo
• demo_rrt.py: RRT path planning demo
• demo_ppo.py: PPO reinforcement learning demo
• demo_kalman.py: Kalman filter demo
• demo_adaptive.py: Adaptive control demo (new in 0.11.0)
• demo_lipm.py: Linear Inverted Pendulum demo (new in 0.12.0)
• demo_zmp.py: ZMP stability demo (new in 0.13.0)