This packages contains generic controllers that can be used for a biped, quadruped, hopper and any other robot. The controllers are created based on the nature of the robot and its properties such as number of end effectors etc..
- Pinocchio
- PyBullet
- Quadprog
- Matplotlib (Optional, needed to run demos)
- BulletUtils (Optional, needed to run demos)
- Robot_Properties_Solo (Optional, needed to run demos)
- Robot_Properties_Bolt (Optional, needed to run demos)
External dependencies:
See this tutorial
in order to install eiquadprog and pinocchio.
See treep and colcon for their usage.
Local and specific dependencies and the actual repo we need to compile:
mkdir devel
cd devel
git clone git@github.com:machines-in-motion/treep_machines_in_motion
pip install -U treep
treep --clone MIM_CONTROL
We use colcon to build this package:
cd devel/workspace
colcon build
To run the demos, please install the following additinal packages:
treep --clone bullet_utils
treep --clone robot_properties_solo
treep --clone robot_properties_bolt
rebuild your workspace using colcon build and source it.
To run the impedance controller on Solo12 follow the below mentioned steps
source /opt/openrobots/setup.bash (source open robots)
cd demo
python3 demo_robot_impedance.py
To run the Center of Mass controller on Solo12 follow the below mentioned steps
source /opt/openrobots/setup.bash (source open robots)
cd demo
python3 demo_robot_com_ctrl.py
@article{grimminger2020open,
title={An open torque-controlled modular robot architecture for legged locomotion research},
author={Grimminger, Felix and Meduri, Avadesh and Khadiv, Majid and Viereck, Julian and W{\"u}thrich, Manuel and Naveau, Maximilien and Berenz, Vincent and Heim, Steve and Widmaier, Felix and Flayols, Thomas and others},
journal={IEEE Robotics and Automation Letters},
volume={5},
number={2},
pages={3650--3657},
year={2020},
publisher={IEEE}
}
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Copyright(c) 2019-2020 New York University, Max Planck Gesellschaft