epfl-lasa/robot_controllers

This repo contains "low" and "high" level controllers for control

Robot Controllers

This repo contains "low" and "high" level controllers for robot control

Authors/Maintainers

• Bernardo Fichera (bernardo.fichera@epfl.ch)
• Konstantinos Chatzilygeroudis (costashatz@gmail.com)

Available Controllers

Low-Level controllers

• Passive DS Controller: "Passive Interaction Control With Dynamical Systems", Klas Kronander and Aude Billard, 2016, https://ieeexplore.ieee.org/document/7358081
• PID Controller

High-Level controllers

• Simple Linear DS high level controller
• Force Modulation DS: "A Dynamical System Approach to Motion and Force Generation in Contact Tasks", Amanhoud Walid, Mahdi Khoramshahi and Aude Billard, 2019, http://lasa.epfl.ch/publications/uploadedFiles/RSS%20legacy%20paper_template%20LaTeX_compressed.pdf

Installing

Dependencies

cd /source/directory
git clone https://github.com/mosra/corrade.git
cd corrade
mkdir build && cd build
cmake ..
make -j
sudo make install

Compilation

mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=/path/to/install/dir/ ..
make && [sudo] make install (you might need sudo depending on your installation directory)

Contributing

robot_controllers is being actively developed and the API is not stable. Please see CONTRIBUTING for more on how to help.

Documentation

UNDER CONSTRUCTION