fevrem / TROPIC

TROPIC: TRajectory OPtimization In CasADi

Get Started

Follow these steps to run the 12-DOF spatial biped example:

• Run TROPIC_add_path() from the Matlab command line in the main TROPIC directory.
• Go to examples/spatial-12-dof-biped/ and open main.m
• Run main.m (this will overwrite the seed file with the newly optimized gait), or run each section and stop after the animation.

Requested Features

• Add humanoid example

  Gait optimization on full-order dynamics of 20-DOF spatial biped robot:

  

• Add reaction wheel system (RWS)

  Flywheel gait on planar five-link biped model

  

• Add flat feet

• Add "get started" explanations

Contributing to TROPIC

If you have improvements to TROPIC, send me a pull request! First, fork TROPIC’s repository into your own GitHub account and then push your changes into a branch on your fork. Once you believe your code is ready to be merged into TROPIC’s primary repository, open a pull request via the GitHub website. I will then review your code, which will also undergo CI tests before it is merged into TROPIC's primary repository.

Credits

TROPIC was started by Martin Fevre in the Locomotion & Biomechanics Lab at the University of Notre Dame. Other people have since contributed and helped make TROPIC successful. Here’s a list of contributors:

• Paul Montgomery

Citation

To cite TROPIC, we suggest the following citation:

[Link] M. Fevre, P. M. Wensing, and J. P. Schmiedeler, "Rapid Bipedal Gait Optimization in CasADi", in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3672-3678.