https://github.com/advrhumanoids/casannis_walking
Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization
https://github.com/advrhumanoids/casannis_walking
Last synced: about 1 month ago
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Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization
- Host: GitHub
- URL: https://github.com/advrhumanoids/casannis_walking
- Owner: ADVRHumanoids
- Created: 2021-01-14T11:28:43.000Z (over 4 years ago)
- Default Branch: tourbot22
- Last Pushed: 2023-10-31T15:55:43.000Z (over 1 year ago)
- Last Synced: 2024-02-05T12:57:24.186Z (over 1 year ago)
- Language: Python
- Homepage:
- Size: 1.28 MB
- Stars: 4
- Watchers: 5
- Forks: 1
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
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README
# casannis_walking
Trajectory Optimization based on CasADi, implemented for IIT's Centauro robot.
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:heavy_check_mark: Offline/online trajectory optimization for quadruped robots and quadruped manipulators carrying heavy payload.
:heavy_check_mark: Implemented using [CasADi] and its interface to [Ipopt] solver.
:heavy_check_mark: Implemented in Python, based on ROS.
## Dependencies
The repo has been tested on Ubuntu 18.04 and 20.04, using the XbotCore 2 and Cartesian Interface developed within the HHCM lab of IIT.
To use the repo you will need:
* [centauro_contact_detection]
* [iit-centauro-ros-pkg]
* [xbot2_examples]
* [centauro_cartesio]
* [cartesio_collision_support] (optional)
* [yiannis_centauro_pytools] (optional)
* [hhcm_perception] (optional)
## Install & Build
casannis_walking is a catkin package. To install it you need to `git clone` into your workspace:
`git clone https://github.com/ADVRHumanoids/casannis_walking.git`
Build with `catkin_make` / `catkin build`
## Run
The repo is **not maintained** to enable off-the-self deploying, but rather consists a record of the work done for the corresponding publication mentioned below. People interested are encouraged to contact the author.
For offline trajectory optimization try
```bash
mon launch casannis_walking cartesio.launch
mon launch casannis_walking gait.launch
```
Or
```bash
mon launch casannis_walking cartesio_with_arm_ee.launch
mon launch casannis_walking gait_payload.launch
```
For online trajectory optimization (under development) try
```bash
mon launch casannis_walking cartesio.launch
rosrun casannis_walking online_simple_gait_replay_node.py
mon launch casannis_walking simple_gait_online_planner.launch
```
## Publications
The repo is related with the following publication:
*Dadiotis I., Laurenzi A., Tsagarakis N., “Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy
Payload”, 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Ginowan, Okinawa, Japan*
Available: https://ieeexplore.ieee.org/document/10000252
If you want to refer to this work please cite with:
```
@inproceedings{dadiotis2022trajectory,
title={Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload},
author={Dadiotis, Ioannis and Laurenzi, Arturo and Tsagarakis, Nikos},
booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},
pages={291--298},
year={2022},
organization={IEEE}
}
```
## Author
Ioannis Dadiotis, [email protected]
[Ipopt]: https://github.com/coin-or/Ipopt
[CasADi]: https://web.casadi.org/
[centauro_contact_detection]: https://github.com/ADVRHumanoids/centauro_contact_detection
[iit-centauro-ros-pkg]: https://github.com/ADVRHumanoids/iit-centauro-ros-pkg
[xbot2_examples]: https://github.com/ADVRHumanoids/xbot2_examples
[centauro_cartesio]: https://github.com/ADVRHumanoids/centauro_cartesio
[cartesio_collision_support]: https://github.com/ADVRHumanoids/cartesio_collision_support
[hhcm_perception]: https://github.com/ADVRHumanoids/de_luca_perception_navigation
[yiannis_centauro_pytools]: https://github.com/ADVRHumanoids/yiannis_centauro_pytools