Walking and stair climbing controller based on LIPM tracking
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README.md

LIPM Walking Controller

Source code of the walking controller used in the experiments of Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control.

Installation

Compilation has been tested on Ubuntu 14.04 (gcc/clang) with ROS Indigo.

Dependencies

Compilation requires:

The following dependencies are not publicly released yet but available upon request to Pierre Gergondet:

  • mc_rtc: robot controller library (includes mc_control, mc_rbdyn, mc_solver and mc_tasks)
  • mc_rtc_ros: ROS tools for mc_rtc
  • mc_rtc_ros_data: ROS environment and object descriptions for mc_rtc

There is currently an additional dependency to the eigen-lssol library. It will be replaced by eigen-qld in a future update.

Building from source on Linux

Link lipm_walking_controller from the source folder of your catkin workspace, then follow the standard catkin workflow:

catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo && catkin_make install

Usage

First, launch RViz by:

roslaunch lipm_walking_controller display.launch

Then, run your mc_rtc interface on the main confuguration file:

<mc_rtc_interface> lipm_walking_controller/etc/mc_rtc.conf

where <mc_rtc_interface> is for instance mc_vrep or MCControlTCP.

Thanks

  • To Pierre Gergondet for developing and helping with the mc_rtc framework