Multi-contact linearized model predictive control
Source code for https://hal.archives-ouvertes.fr/hal-01349880/document
On Ubuntu 14.04, once you have installed OpenRAVE, do:
sudo apt-get install cython python python-dev python-pip python-scipy python-shapely sudo pip install pycddlib quadprog pyclipper
Then, clone the repository and its submodule via:
git clone --recursive https://github.com/stephane-caron/3d-walking-lmpc.git
If you already have pymanoid installed on your system, be sure that its version matches that of the submodule.
walk.sh script from the top-level directory opens the staircase
For a more detailed analysis, there are three subfolders in this repository, corresponding to different Sections of the paper:
- Section IV: cones/ contains scripts to display and play with the CoM acceleration cones
- Section VI: staircase/ walks the humanoid model around a circular staircase with tilted stepping stones
- Appendix: sep/ compares four algorithms calculating the static-equilibrium polygon
Due to the copyright problem, we cannot release the COLLADA model
used to produce the accompanying video and paper illustrations. We have
replaced it with
which has the same kinematic chain.