hamilton_ac

This repository contains the source code for Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies, by Preston Culbertson, Jean-Jacques Slotine, and Mac Schwager.

Installation

This repository uses Julia-1.1 to implement the numerical simulations described in the paper, and Python 3.x to implement the experimental code, using ROS.

You can install the Julia packages needed to run the simulations with the following script:

import Pkg;
for p in ["NLsolve, PyPlot,  Primes"]
    Pkg.add(p)
end

The experimental code runs on top of the Ouijabot platform and ROS package, which can be found here.