This repository contains the software framework designed as a tool for the locomotion research.
The software provides a framework to quickly try out ideas by maximizing the flexibility and reconfigurability of the developed modules. It is achieved through the reconfigurable YAML files, and a simple end-user API. An abstraction layers for the robot kinematics/dynamics are provided, and a communication layer that consists of the reconfigurable feedbacks/commands has been developed. This communication layer is automatically loaded on the plugin initialization. The configurable feedbacks/commands allow, for example, to run multiple cooperating plugins simultaneously or to switch between the online/offline implementation of the module without any source code modification, and thus without a need to recompile the code. Furthermore, the software provides a unified interface for the non real-time ROS and the real-time XBotCore middlewares. Thanks to the automatically generated plugins, the software can be moved from the simulation to the hardware with one parameter change in the configuration file.
A Robot Points interface has been developed to simplify a definition of the locomotion problems by providing the common interface for the different robot characteristics and corresponding Jacobians. Examples of the components integrated with this interface include - among others - a rigid body point, point/body velocity, point/body acceleration, force/wrench, center of mass and contact points. With these elements defined through the common interface, a template class has been developed to menage the elements together while ensuring access to individual points if required.
This repository contains modules implementing the controllers and state estimators designed for the Centauro robot. These real-time safe modules have been tested in the simulation and in the experiments with the Centauro robot. Included are: a centralized controller with a whole-body gravity compensation, a gravity compensation for the series elastic actuators, an inverse-kinematics scheme, a hybrid legged-wheeled locomotion module, a reactive control for the hybrid-legged wheeled robot, a joint-space controller as well as a simple state estimation and an estimation of the ground reaction forces.
Please read SOLFER description.pdf for more detailed description of the framework.
This software has been developed to simplify the author's PhD work, and it has not been designed as a package to be released. As a utilitarian tool developed with a very restricted time limit, no unit test has been developed, and the comments are scarce to none.
- Eigen [http://eigen.tuxfamily.org/index.php?title=Main_Page],
- RBDL [https://rbdl.bitbucket.io/],
- ros-control, ros-controllers [https://github.com/ros-controls],
- srdfdom [https://github.com/ros-planning/srdfdom],
- ranges (a copy included in this repository) [https://github.com/ericniebler/range-v3],
- eiquadprog (a copy included in this repository),
- XBotCore (can be removed with the XBOT compiler flag - the packages.xml have to adjusted by hand).