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.
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
- 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.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/humanoid_control_params.yaml roslaunch lipm_control lipm_control.launch
