salini/LQPctrl
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This package implements a generic dynamic controller in Python. It is especially dedicated to the control of humanoid, with the possibility to perform walking task. This package works with the dynamic simulator `Arboris-python <https://github.com/salini/arboris-python>`_. It needs `cvxopt package <http://abel.ee.ucla.edu/cvxopt/>`_ to work properly. Some results, described in my thesis, are available on my `ISIR website <http://www.isir.upmc.fr/index.php?op=view_profil&id=121&pageid=821&old=N&lang=en>`_.
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