mim_control

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..

Installation

Dependencies

- 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)

Download the package

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

Build the package

We use colcon to build this package:

cd devel/workspace
colcon build

Usage

Running Demos

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

Cite

@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}
}

License and Copyrights

BSD 3-Clause License

Copyright(c) 2019-2020 New York University, Max Planck Gesellschaft