ami-iit/dynamical-planner

Dynamical Planner

DynamicalPlanner is a planner determines whole-body trajectories for a humanoid robot. Check the paper for a more thorough description.

Dependencies

• iDynTree (Version >= 0.11.103) It needs the options IDYNTREE_COMPILES_OPTIMALCONTROL and IDYNTREE_USES_IRRLICHT set to ON. The latter is useful for the visualization.
• Eigen3
• matioCpp
• FFmpeg
• IPOPT It is suggested to install it from source, including the HSL solvers (please check https://coin-or.github.io/Ipopt/INSTALL.html)

Installation

The planner is compatible with Linux/macOS and Windows, but it has been mainly tested on Ubuntu 20.04.

git clone https://github.com/ami-iit/dynamical-planner
cd dynamical-planner
mkdir build && cd build
cmake ../
make
[sudo] make install

Run the tests

The data for the papers has been obtained by running the SolverUnitTest and SolverForComparisonUnitTest executables. They are available after setting the CMake variable BUILD_TESTING to ON.

Cite this work

@INPROCEEDINGS{9196801,
  author={S. {Dafarra} and G. {Romualdi} and G. {Metta} and D. {Pucci}},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach}, 
  year={2020},
  volume={},
  number={},
  pages={1511-1517},
  doi={10.1109/ICRA40945.2020.9196801}}