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Humanoid robots balance and motion planning are not trivial tasks. I believe you will learn a lot if you read about Zero Moment Point (ZMP). Basically, it is a specific point of contact between the robot's planar foot and the ground. What makes this point special is that the reaction forces at it produce zero torque on the robot body. If there is no reaction ...


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Since you want to control the throttle and steering angle on the car, you will need to be able to send PWM signals to the ESC and servo, respectively. Given that you are using a raspberry pi (presumably mounted on the car), there are several ways to do this. The easiest is to use a PCA9685 servo controller and have the RaspberryPi talk to it via I2C serial....


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