Walking controller for humanoid robots based on inverted pendulum tracking
BSD-2-CLAUSE License
This release brings in the footstep interpolator used last February in the Saint-Nazaire demonstrator:
The interactive walking target marker in the GUI can be manipulated while the robot is in the Standing
state. Footstep interpolation is now the default behavior, with static configuration plans still available in the Footstep plan
combo box.
Published by stephane-caron almost 5 years ago
The main addition of this version is the release of a fully functional Docker image where the controller can be tested on a Choreonoid simulation of the JVRC-1 robot model:
docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
stephanecaron/lipm_walking_controller:1.5 lipm_walking --floor
The image includes source code and all libraries required to recompile, reproduce, tinker and have fun with the controller. Enjoy!
eigen-lssol
This release brings an important change in the stabilizer: the contact wrench is now distributed with respect to the measured rather than reference CoM.
The main features of this release are the Doxygen API documentation and the integration of the JVRC-1 robot model. This model is free and reproduces in Choreonoid simulations all the walking and stair climbing patterns from the controller configuration:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
to all structst()
, b()
and n()
shorthandsutils/world.h
The main change in this release is the switch from ZMP to DCM derivative term in DCM tracking, following Biped locomotion control for uneven terrain with narrow support region (Morisawa et al., 2014). The DCM derivative is computed from DCM and ZMP measurements using a model-based estimator.
This release corresponds to the stair climbing and walking control that ran in the final demonstrator of the COMANOID project: