Hybrid Walking Pattern Generator for bipedal robots, merging the Virtual Constraints and the Preview Control theories
To run the WPG, the pre-required software can be found here: http://54.73.207.169/nightly/
1. download and install the debian: xbot1-full-devel
2. clone and install the repo: https://github.com/ADVRHumanoids/OpenMpC
Steps to run the node:
I. run roscore
II. run gazebo
III. homing robot
IV. run rosrun limit_cycle_walking walking_server
V. call rosservice call /walker/run 1 to walk!!