Linear Inverted Pendulum Model (LIPM) Motion Planning 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.
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
- Ubuntu 16.04 and later
- ROS kinetic and later
- Eigen 3.2.0 and later
git clone https://github.com/mrsp/lipm_msgs.gitgit clone https://github.com/mrsp/lipm_motion.gitcatkin_make -DCMAKE_BUILD_TYPE=Release- If you are using catkin tools run:
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release
- Specify topics on
config/planning_params.yaml roslaunch lipm_motion lipm_motion.launch
roslaunch lipm_motion lipm_motion_atlas.launch
Upon usage in an academic work kindly cite:
@INPROCEEDINGS{PiperakisIROS14,
author={S. {Piperakis} and E. {Orfanoudakis} and M.G. {Lagoudakis}},
booktitle={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={{Predictive Control for Dynamic Locomotion of Real Humanoid Robots}},
year={2014},
volume={},
number={},
pages={4036-4043},
doi={10.1109/IROS.2014.6943130}},
month ={Sept},
}