qleonardolp / impedance_control_benchmark

Impedance Control Benchmark project based on Pinocchio RBD library.

Impedance Control Benchmark

Welcome to the Impedance Control Benchmark project. This project is dedicated to characterizing impedance control methods in robotics.

The primary focus is on proposing a Python-based toolset that relies on the Pinocchio rigid body dynamics library (Python wrappers), Numpy, and Matplotlib. The aim is to increase the reachability using this programming language without losing the theoretical background.

Installation and Dependencies

The source code was developed on Ubuntu 22.04 with:

1. Python 3.10
2. Pinocchio 2.6.20
3. Matplotlib 3.6.2
4. Numpy 1.23.5

Versions are strongly recommended, but not strictly. Following, clone this repo:

git clone [e-mail]:leggedrobotics-usp/impedance_control_benchmark.git

This is it!

Usage

WIP

Contributing

1. Fork
2. Pull Request

License

GNU GPLv3

Permissions of this strong copyleft license are conditioned on making available the complete source code of licensed works and modifications, which include larger works using a licensed work, under the same license. Copyright and license notices must be preserved. Contributors provide an express grant of patent rights.

Funding

São Paulo Research Foundation (FAPESP), grant numbers 2018/15472-9, and 2021/09244-6.