README

Linear Inverted Pendulum Model (LIPM) Real-time Stabilization for Humanoid/Bipedal legged robots. The code is open-source (BSD License). Please note that this work is an on-going research and thus some parts are not fully developed yet. Furthermore, the code will be subject to changes in the future which could include greater re-factoring.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

• Ubuntu 16.04 and later
• ROS kinetic and later
• Eigen 3.2.0 and later

Installing

• install https://github.com/mrsp/whole_body_ik.git
• install https://github.com/mrsp/lipm_motion.git
• git clone https://github.com/mrsp/lipm_control.git
• catkin_make -DCMAKE_BUILD_TYPE=Release
• If you are using catkin tools run: catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

ROS Examples

Launch on your Robot

• Specify topics on config/humanoid_control_params.yaml
• roslaunch lipm_control lipm_control.launch

Real-time Gait Control for NAO and Atlas humanoid robots

License

BSD