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| # VHIP Walking Controller | ||
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| [](https://www.youtube.com/watch?v=vFCFKAunsYM) | ||
| Source code of the controller used in the experiments of [Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model](https://hal.archives-ouvertes.fr/hal-02289919/document). | ||
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| 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). | ||
| ## Ressources | ||
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| ## Installation | ||
| See the documentation of the [LIPM walking](https://github.com/stephane-caron/lipm_walking_controller) controller: | ||
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| Compilation has been tested on Ubuntu 14.04 (gcc/clang) with ROS Indigo and Ubuntu 16.04 (gcc) with ROS Kinetic. | ||
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| ### Dependencies | ||
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| Compilation requires: | ||
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| * [ROS](http://www.ros.org/) with a working [catkin workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace) | ||
| * [SpaceVecAlg](https://github.com/jrl-umi3218/SpaceVecAlg): spatial vector algebra | ||
| * [RBDyn](https://github.com/jrl-umi3218/RBDyn/): rigid body dynamics | ||
| * [eigen-lssol](https://gite.lirmm.fr/multi-contact/eigen-lssol): quadratic programming (if you have the LSSOL licence ask us this library) | ||
| * [eigen-qld](https://github.com/jrl-umi3218/eigen-qld): quadratic programming | ||
| * [sch-core](https://github.com/jrl-umi3218/sch-core): collision detection | ||
| * [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 | ||
| * [tvm](https://github.com/jrl-umi3218/tvm): modeling language for linear control problems | ||
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| The following dependencies are not publicly released yet but available upon request to [Pierre Gergondet](mailto:[email protected]): | ||
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| * [mc\_rtc](https://gite.lirmm.fr/multi-contact/mc_rtc): robot controller library (includes mc\_control, mc\_rbdyn, mc\_solver and mc\_tasks) | ||
| * [mc\_rtc\_ros](https://gite.lirmm.fr/multi-contact/mc_rtc_ros): ROS tools for mc\_rtc | ||
| * [mc\_rtc\_ros\_data](https://gite.lirmm.fr/multi-contact/mc_rtc_ros_data): ROS environment and object descriptions for mc\_rtc | ||
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| ### Building from source on Linux | ||
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| Link `vhip_walking_controller` from the source folder of your catkin workspace, then follow the standard catkin workflow: | ||
| ```sh | ||
| catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo && catkin_make install | ||
| ``` | ||
| To avoid a ``sudo`` at ``catkin_make install`` you can change ownership or permissions of the ``/usr/local/lib/mc_controller`` folder. | ||
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| ## Usage | ||
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| First, launch RViz for the HRP-4 model by: | ||
| ```sh | ||
| roslaunch vhip_walking_controller display.launch robot:=hrp4 | ||
| ``` | ||
| Enable the controller in your mc\_rtc configuration: | ||
| ```sh | ||
| { | ||
| "MainRobot": "HRP4", | ||
| "Enabled": ["VHIPWalking"] | ||
| } | ||
| ``` | ||
| Finally, run your mc\_rtc interface, for instance ``mc_vrep`` or ``MCUDPControl``. | ||
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| ## Thanks | ||
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| To [@gergondet](https://github.com/gergondet) for developing and helping with the mc\_rtc framework. | ||
| - [Installation](https://github.com/stephane-caron/lipm_walking_controller#installation) | ||
| - [Usage](https://github.com/stephane-caron/lipm_walking_controller#usage) | ||
| - [Wiki](https://github.com/stephane-caron/lipm_walking_controller/wiki) |