Project Title

Obstacle avoidance for a legged robot

Description

This repository about collision avoidance planner for a legged robot

Getting Started

Dependencies

• Ubuntu 18.04
• ROS Melodic

Installing

• Install prerequisites

sudo apt-get install cmake libeigen3-dev coinor-libipopt-dev
sudo apt-get install ros-melodic-grid-map*
sudo apt-get install libncurses5-dev libncursesw5-dev

Build

catkin build --save-config --cmake-args -DCMAKE_BUILD_TYPE=Release

Executing program

roslaunch towr_ros towr_ros.launch # execute program
rosrun towr_ros towr_user_interface # execute user interface

Help

Any advise for common problems or issues.

Authors

Jinwom Kim
Heechan Shin
Sung-Eui Yoon

Conference Paper

Collision-Backpropagation based Obstacle Avoidance Methodfor a Legged Robot Expressed as a Simplified Dynamics Model