Source code of the walking and stair climbing controller used in the experiments of Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control, as well as in an industrial demonstrator at the Airbus Saint-Nazaire factory.
The easiest way to get started with the controller is to run its Docker image from an Ubuntu Linux distribution:
xhost +local:docker
docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
stephanecaron/lipm_walking_controller \
lipm_walking --floor
See the documentation for more usage instructions.
The controller has been tested on Ubuntu 14.04, Ubuntu 16.04 and Ubuntu 18.04. See the instructions to build and install in the documentation.
If it is not there already, enable the controller in your mc_rtc configuration:
{
"MainRobot": "JVRC1",
"Enabled": ["LIPMWalking"]
}
Launch RViz for the JVRC-1 model by:
roslaunch mc_rtc_ticker display.launch
Finally, start the controller from your mc_rtc interface. Here is the example of the Choreonoid project installed from mc_openrtm in the Docker image:
cd /usr/share/hrpsys/samples/JVRC1
choreonoid --start-simulation sim_mc.cnoid
You should end up with the following windows:
See the Graphical user interface page of the
wiki for further instructions on how to use this GUI.
To @gergondet for developing and helping with the mc_rtc framework.