Readme

Contains a list of reactive planners specialized in locomotion of legged robots.

Installation

Standard dependencies

Here all the pip and apt install-able stuff

Download the package

Install treep and colcon .

Build the package

Then follow the instructions below:

# install treep and colcon
pip install -U treep colcon-common-extensions
# change directory to your devel folder
mkdir devel
cd devel
# Clone the treep configuration
git clone https://github.com/machines-in-motion/treep_machines_in_motion.git
# Clone the code base
treep --clone REACTIVE_PLANNERS
# go and build the code
cd workspace
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
# source the environment for using the code
source install/setup.bash

Usage

Demos/Examples

To run Bolt walking in simulation: python3 src/reactive_planners/demos/demo_reactive_planners_bolt_step_adjustment.py

To run Solo12 walking in simulation: python3 src/reactive_planners/demos/demo_dgh_sim_solo12_step_adjustment.py

Reference

This package contains the implementation of the algorithms depicted in:

• Elham Daneshmand, Majid Khadiv , Felix Grimminger and Ludovic Righetti. “Variable Horizon MPC With Swing Foot Dynamicsfor Bipedal Walking Control.”, https://arxiv.org/abs/2010.08198 (2021)

• Majid Khadiv, Alexander Herzog, S. Ali A. Moosavian and Ludovic Righetti. “A robust walking controller based on online step location and duration optimization for bipedal locomotion.”, https://arxiv.org/abs/1704.01271 (2017)

License and Copyrights

License BSD-3-Clause Copyright (c) 2020, New York University and Max Planck Gesellschaft.