Awesome

Multi-contact ZMP support areas

Source code for http://arxiv.org/pdf/1510.03232.pdf

Installation

On Ubuntu 14.04, you will first need to install OpenRAVE. Next, install other required dependencies by:

sudo apt-get install cython python python-dev python-pip python-scipy python-tk
sudo pip install pycddlib quadprog

Next, you will need to install the contact_stability ROS package. Link it into your Catkin workspace and build. The installation is successful if you can run roslaunch contact_stability all.launch without error. Finally, clone the repository with its submodules:

git clone --recursive https://github.com/stephane-caron/tro-2016

Usage

There are three sub-folders corresponding to different developments of the paper:

• full_support_area for the Full Support Area (Section III of the paper)
• motion_editor for the motion generation framework (Section V) based on the Pendular Support Area (Section IV)
• n_moment_point for the n-Moment Point (Appendix A)

<a href="motion_editor/"><img src="https://scaron.info/images/zmp-motion-editor.png" width="100%" /></a> Screenshot of the motion editor