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Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control

G. Romualdi, S. Dafarra and D. Pucci, "Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control," in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4289-4296, July 2021, doi: 10.1109/LRA.2021.3067589

Modeling.of.Visco-Elastic.Environments.for.Humanoid.Robot.Motion.Control.mp4

IEEE Robotics and Automation Letters

Reproducing the experiments

We support running the experiments via the provided Docker image.

  1. Pull the docker image: 
    docker pull ghcr.io/ami-iit/soft-terrain-walking-docker:latest
  2. Launch the container: 
    xhost +
docker run -it --rm  \
           --device=/dev/dri:/dev/dri \
           --user user \
           --env="DISPLAY=$DISPLAY"  \
           --net=host \
           ghcr.io/ami-iit/soft-terrain-walking-docker:latest
  3. The application will start automatically

You can find the generated dataset and images in the ~\experiment folder of the container.

⚠️ If you want to replicate the installation on your PC please follow the Docker recipe.

Citing this work

If you find the work useful, please consider citing:

@ARTICLE{9382068,
  author={Romualdi, Giulio and Dafarra, Stefano and Pucci, Daniele},
  journal={IEEE Robotics and Automation Letters},
  title={Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control},
  year={2021},
  volume={6},
  number={3},
  pages={4289-4296},
  doi={10.1109/LRA.2021.3067589}}

Maintainer

This repository is maintained by:
@GiulioRomualdi