https://github.com/miguelgfierro/hoap3_movement_simulation

HOAP-3 humanoid robot movement simulation in OpenRAVE
https://github.com/miguelgfierro/hoap3_movement_simulation

Last synced: about 1 month ago
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HOAP-3 humanoid robot movement simulation in OpenRAVE

• Host: GitHub
• URL: https://github.com/miguelgfierro/hoap3_movement_simulation
• Owner: miguelgfierro
• Created: 2015-12-18T09:51:23.000Z (almost 9 years ago)
• Default Branch: master
• Last Pushed: 2015-12-19T19:27:42.000Z (almost 9 years ago)
• Last Synced: 2023-10-25T20:43:05.063Z (about 1 year ago)
• Language: C++
• Homepage: http://miguelgfierro.com
• Size: 71.6 MB
• Stars: 1
• Watchers: 4
• Forks: 3
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# HOAP-3 movement simulation in OpenRAVE

This is the code to simulate different movement algorithms of the humanoid robot HOAP-3. The simulator is [OpenRAVE](http://openrave.org/). It was developed during my [PhD thesis](http://miguelgfierro.com/docs/gonzalez-fierro2014thesis.pdf). 

Folder "Models" contains the CAD models for the robot and the environment.

Folder "head_robot_path_planning" contains a simulation of a path planning algorithm called Bidirectional Random Rapidly-Exploring Trees ([Bi-RRT](http://people.csail.mit.edu/aperez/obirrt/)).

Folder "hoap_navigation" contains a simulation of a biped walking algorithm called [Cart-Table](https://staff.aist.go.jp/kensuke.harada/papers/2003-ICRA%28KKKFHYH%29.pdf). It is one of the most used methods for walking generation in humanoids.

Folder "videos" contains different videos of the experiments. 

For more information please visit my [blog](http://miguelgfierro.com) or my [youtube channel](https://www.youtube.com/user/ciruselvirus)