# lipm_walking_controller

**Repository Path**: York-Fu/lipm_walking_controller

## Basic Information

- **Project Name**: lipm_walking_controller
- **Description**: Walking controller based on linear inverted pendulum tracking
- **Primary Language**: Unknown
- **License**: BSD-2-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-11-07
- **Last Updated**: 2021-01-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# LIPM Walking Controller

[![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
[![Documentation](https://img.shields.io/badge/doxygen-online-brightgreen?logo=read-the-docs&style=flat)](https://scaron.info/doc/lipm_walking_controller/)

[![Stair climbing by the HRP-4 humanoid robot](https://scaron.info/images/stair-climbing.jpg)](https://www.youtube.com/watch?v=vFCFKAunsYM&t=22)

Source code of the walking and stair climbing controller used in the experiments of [Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control](https://hal.archives-ouvertes.fr/hal-01875387/document), as well as in an industrial demonstrator at the [Airbus Saint-Nazaire factory](https://cordis.europa.eu/project/rcn/194280/brief/en?WT.mc_id=exp).

## Getting started

The easiest way to try the controller in action is to run its Docker image from an Ubuntu Linux distribution:

```
xhost +local:docker
docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
    stephanecaron/lipm_walking_controller \
    lipm_walking --floor
```

This image runs the exact controller we used in 2019 for experiments and industrial demonstrations. For more recent developments, check out the [maintained version from jrl-umi3218](https://jrl-umi3218.github.io/lipm_walking_controller/).

## Dependencies

The controller has been tested on Ubuntu 14.04 with ROS Indigo and Ubuntu 16.04 with ROS Kinetic. It builds on the shoulders of the following software:

* [ROS](http://www.ros.org/): robotics middleware
* [Eigen](https://eigen.tuxfamily.org/): linear algebra
* [Eigen3ToPython](https://github.com/jrl-umi3218/Eigen3ToPython): Python bindings for Eigen
* [SpaceVecAlg](https://github.com/jrl-umi3218/SpaceVecAlg): spatial vector algebra
* [RBDyn](https://github.com/jrl-umi3218/RBDyn/): rigid body dynamics
* [eigen-qld](https://github.com/jrl-umi3218/eigen-qld): quadratic programming
* [eigen-quadprog](https://github.com/jrl-umi3218/eigen-quadprog): quadratic programming
* [sch-core](https://github.com/jrl-umi3218/sch-core): collision detection
* [sch-core-python](https://github.com/jrl-umi3218/sch-core-python): Python bindings for sch-core
* [Tasks](https://github.com/jrl-umi3218/Tasks/): inverse kinematics
* [mc\_rbdyn\_urdf](https://github.com/jrl-umi3218/mc_rbdyn_urdf): robot model loader
* [copra](https://github.com/vsamy/copra): linear model predictive control
* [mc\_rtc](https://github.com/jrl-umi3218/mc_rtc): robot controller library

Instructions to build from source are available from the [maintained fork from jrl-umi3218](https://jrl-umi3218.github.io/lipm_walking_controller/doxygen/HEAD/build.html).

## Usage

Make sure the controller is enabled in your mc\_rtc configuration:
```json
{
  "MainRobot": "JVRC1",
  "Enabled": ["LIPMWalking"]
}
```
Launch RViz for the JVRC-1 model by:
```sh
roslaunch lipm_walking_controller display.launch robot:=jvrc1
```
Finally, start the controller from your mc\_rtc interface. Here is the example
of the [Choreonoid](https://choreonoid.org/en/) project installed in the
Docker image:
```sh
cd /usr/local/share/hrpsys/samples/JVRC1
choreonoid --start-simulation sim_mc.cnoid
```
You should end up with the following windows:
![Choreonoid and RViz GUI of the controller](https://user-images.githubusercontent.com/1189580/64157945-ead71c80-ce37-11e9-9081-7936702c5fbc.png)
See the [Graphical user interface](https://github.com/stephane-caron/lipm_walking_controller/wiki/Graphical-user-interface) page of the
wiki for further instructions on how to use this GUI.

## Thanks

To [@gergondet](https://github.com/gergondet) and [@arntanguy](https://github.com/arntanguy) for developing and helping with the mc\_rtc framework.