3D Balance using both ZMP and COM height variations
Source code for https://hal.archives-ouvertes.fr/hal-01590509/document
The following instructions were verified on various machines running Ubuntu 14.04 and 16.04.
- Install OpenRAVE: here are instructions for Ubuntu 14.04 as well as for Ubuntu 16.04
- Install Python and related dependencies:
sudo apt-get install cython python python-dev python-pip python-scipy
- Install Python packages:
sudo pip install pycddlib quadprog
- Install CasADi. Pre-compiled binaries are available, but I recommend you build it from source. When installing IPOPT, make sure to install the MA27 linear solver (
You can then clone the repository and its submodule via:
git clone --recursive https://github.com/stephane-caron/3d-balance.git
Run the main script
stepping.py, then call one of the two main functions:
edit()to switch to editor mode (moving the contact around, changing initial velocity, etc.)
go()to execute the motion from the current state.
You can also checkout the benchmarking script in the
It was used to measure computation times reported in Section V of the paper.
Due to copyright, we cannot release the COLLADA model
HRP4R.dae used to
produce the accompanying video and paper illustrations. It is replaced by
which has the same kinematic chain.