shehzi001 / nao_igm

Inverse Geometrical Model for Nao

Inverse geometrical model for Nao.

Requirements

• Eigen = v. 2
• cmake >= v. 2.6
• GNU make

Overview

The features of the currently used version of IGM are:

• One of the feet is chosen as a reference, hence there are two IGM functions for the left and right foot respectively. These functions are generated using Maple.

• The selection of reference foot depends on the calling module. (Currently it is the support foot in a single support phase, and the last support foot in a double support phase.)

• Only the joint angles of the lower body part are controlled, others remain constant.

• The following constraints are imposed:

  • 3 on the position of the swing foot
  • 3 on the orientation of the swing foot
  • 3 on the position of the CoM
  • 1 to take into account the coupled joint L_HIP_YAW_PITCH / R_HIP_YAW_PITCH

• To support a steady walk, the deviation from given reference angles is penalized.

Note, that there are other versions of igm() function, the respective source files are kept in a separate branch:

https://github.com/asherikov/nao_igm/tree/MapleGeneratedFunctions

The features of different versions are described in file

./maple_sources/Readme_M.txt

Compilation

The following command compiles the library:

"make cmake"

Toolchain can be specified in the folowing way:

"make cmake TOOLCHAIN=< path to a toolchain >"