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Control Toolbox ROS and Robot Examples

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This repository contains robotics examples for the control toolbox. Examples include

  • nonlinear optimal control of a robot arm using iLQR and GNMS
  • nonlinear optimal control of a legged robot using iLQR
  • nonlinear optimal control of a quadrotor with a double pendulum attached

The main purpose of this repository is to provide minimal working examples of how to use the CT with robotic systems modelled using RobCoGen. If you are familiar with the basic concepts of the CTs optimal control solvers and robot models, you can find more complex and demanding application examples in this repository.

If you have not installed the control toolbox yet, please go here for the source-code. Link to the documentation of the control toolbox.

Requirements

  • Ubuntu 16.04 or 18.04
  • ROS Kinetic or later
  • installation of the control toolbox

Maintenance

Markus Giftthaler, markusgft (at) gmail (dot) com

Funding

This software has been developed at the Agile & Dexterous Robotics Lab at ETH Zurich, Switzerland between 2014 and 2018. During that time, development has been made possible through financial support from the Swiss National Science Foundation (SNF) through a SNF Professorship award to Jonas Buchli and the National Competence Centers in Research (NCCR) Robotics and Digital Fabrication.

Licence Information

The Control Toolbox and the examples in ct_ros are released under the BSD-2 clause license. Please see LICENCE.txt and NOTICE.txt

How to cite the CT

@misc{adrlCT,
  author    = {Giftthaler, Markus and Neunert, Michael and {St\"auble}, Markus and Buchli, Jonas},
  booktitle = {2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
  author    = {Giftthaler, Markus and Neunert, Michael and {St\"auble}, Markus and Buchli, Jonas},
  title     = "The {Control Toolbox} - An Open-Source {C++} Library for Robotics, Optimal and Model Predictive Control",
  year      = 2018,
  pages     ={123-129}, 
  doi       ={10.1109/SIMPAR.2018.8376281}, 
  month     ={May},
  number    ={}, 
  volume    ={}, 
}

Earlier Versions

Earlier versions up to control toolbox release v2.3 are hosted on bitbucket, they can be found at https://bitbucket.org/adrlab/ct_ros It is, however, recommended to ignore those legacy versions from bitbucket and work with this maintained release.