fjandrad / lipm_walking_controller

Walking controller based on linear inverted pendulum tracking

LIPM Walking Controller

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.

Getting started

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.

Installation

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.

Usage

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.

Thanks

To @gergondet for developing and helping with the mc_rtc framework.