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Hector Open-source Simulation Software in ROS

HECTOR: Humanoid for Enhanced ConTrol and Open-source Research

This branch contains the ROS+Gazebo simulation for the Hector humanoid robot.

For humanoid ROS model with arms use the ROS_Humanoid_Simulation branch.

<img src="https://github.com/DRCL-USC/Hector_Simulation/blob/Matlab_Simulation/STL%20files/Hector_picture.jpg" width=50% height=50%>

Introduction Video: https://youtu.be/NcW-NFwjMh0

Video associated with preprint "Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research": https://youtu.be/-r0QoxQgshk

Dependencies:

sudo apt-get install ros-noetic-controller-manager ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-velocity-controllers ros-noetic-position-controllers ros-noetic-robot-controllers ros-noetic-robot-state-publisher ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control

System Requirements:

If you want to simulate with Gazebo, we recommend x86 platform. ARM platform is not suggested for simulation. So, if you run this code on ARM platform, please remove Simulation related folder first.

The current system environment is:

Configuration:

Use command to open .bashrc file:

Make sure the following exist in your ~/.bashrc file or export them in terminal. noetic, gazebo-11 and ~/catkin_ws should be replaced in your own case.

source /opt/ros/noetic/setup.bash
source /usr/share/gazebo-11/setup.sh
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}

Build:

NOTE: If it is the first time to compile, Please compile the laikago_msgs first by following command:

complie the package

launch and run gazebo simulation:

Keyboard Control:

Cite Us:

Thank you for choosing our software for your research and development, we highly appreciate your citing our work:

  1. HECTOR Project: "Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research" https://arxiv.org/pdf/2312.11868.pdf
@article{li2023dynamic,
  title={Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research},
  author={Li, Junheng and Ma, Junchao and Kolt, Omar and Shah, Manas and Nguyen, Quan},
  journal={arXiv preprint arXiv:2312.11868},
  year={2023}
}
  1. Force-and-moment-based Locomotion MPC: "Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots" https://arxiv.org/abs/2104.00065
  @inproceedings{li2021force,
  title={Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots},
  author={Li, Junheng and Nguyen, Quan},
  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
  pages={1024--1030},
  year={2021},
  organization={IEEE}
}

Contact Information:

Junheng Li -- junhengl@usc.edu Yiyu Chen -- yiyuc@usc.edu

License

Please read the License.md for details.

Acknowledgement:

The authors would like to express special thanks to MIT Biomimetic Lab for providing the cheetah MPC framework and Unitree Robotics for providing the Unitree gazebo simulation framework.