A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots

This software allows simulating the locomotion of a quadruped robot through a Whole-Body Control presented in the paper:

V. Morlando, A. Teimoorzadeh, F. Ruggiero, "Whole-body control with disturbance rejection through a momentum-based observer for quadruped robots", Mechanism and Machine Theory, (in press), 2021, DOI: 10.1016/j.mechmachtheory.2021.104412 .

The combination of a motion planner for the trajectory of the robot’s center of mass, a momentum-based observer estimator, and an optimization problem based on the modulation of ground reaction forces allows the robot to reject external disturbances.

The repository contains the following elements:

• A quadruped robot model already implemented inside the Gazebo simulator;
• A plugin to simulate external forces stressing the robot;
• A scene reproducing an irregular terrain;
• Some examples to test the proposed controller.

Citing

@article{MorlandoMAMT2021,
  title={Whole-body Control with Disturbance Rejection through a Momentum-based Observer for Quadruped Robot},
  author={Morlando, Viviana and Teimoorzadeh, Ainoor and Ruggiero, Fabio },
  journal={Mechanism and Machine Theory (in press)},
  volume={164},
  year={2021},
  publisher={Elsevier}
}

Instructions

The code was tested with Ubuntu 18.04, and ROS Melodic. Different OS and ROS versions are possible but not supported.

Install dependencies

sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers

Clone the following packages

cd <CATKIN_WS_DIR>/src

git clone https://github.com/prisma-lab/WBC_quadruped_DOB/tree/main/dogbot_controller

git clone https://github.com/prisma-lab/WBC_quadruped_DOB/tree/main/DogBotV4

git clone https://github.com/prisma-lab/WBC_quadruped_DOB/tree/main/force_plugin

Compile

catkin_make

Run simulation

Choose the case study inside force_plugin.cpp

roslaunch dogbot_gazebo gztest.launch paused:=true

rosrun dogbot_controller dogbot /yourpath/<CATKIN_WS_sir>/src/DogbotV4/ROS/src/dogbot_description/urdf/dogbot.urdf

Press play in gazebo to start the simulation