Here is a list of all related documentation pages:

Build and install the LIPMWalking controller	In what follows, we assume we are starting from a fresh and up-to-date Ubuntu LTS system
Using the Docker image	The easiest way to get started with the controller is to run its Docker image from an Ubuntu Linux distribution
Overview of the code	The LIPM walking controller is built with the mc_rtc framework
Tuning the stabilizer	The stabilizer performs feedback control to make the robot track the desired walking pattern
Troubleshooting