Skip to content

S-Dafarra/walking-controllers

 
 

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

2 Commits
 
 
 
 
 
 

Repository files navigation

element_capture-point-walking

Responsible

Giulio Romualdi

Background

The Capture Point (CP) was a well known concept in robot locomotion. It was firstly introduced by Pratt et al. using the linear inverted pendulum orbital energy. Then it was formalized by Englsberger et al.. The CP is defined as the point on the ground which, when the ZMP is at this position, ensures that the robot comes to rest in a vertical position. You can find further information here and here.

Objectives

The objectives of the element are:

  • Implement the locomotion task on iCub using the MPC approach: this controller architecture is mainly based on the Englsberger's work;
  • Implement the locomotion task on iCub using the standard reactive control: a simple controller architecture will be implemented in order to verify if the MPC approach is strictly necessary;
  • Compare the results obtained with the controllers above: a techincal report will be produced in order to shown the results obtained with both of the controller architectures.

Outcomes

The possible outcomes can be summarized in the following list:

  • A C++ software that implements a trajectory generator for the CP
  • A C++ software that implements a MPC for the Capture Point
  • A C++ software that implements a standard reactive controller for the Capture Point

Task break-down

The following epic-tasks can been identified:

About

Capture point walking controller.

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages

  • C++ 94.6%
  • CMake 3.9%
  • MATLAB 1.2%
  • Thrift 0.3%