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Open Source Science

https://github.com/ami-iit/paper_dafarra_2022_tro_dcc-planner

https://github.com/ami-iit/paper_dafarra_2022_tro_dcc-planner

Science Score: 23.0%

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    Found 1 DOI reference(s) in README
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Last synced: 11 months ago · JSON representation

Repository

Basic Info
  • Host: GitHub
  • Owner: ami-iit
  • License: bsd-3-clause
  • Language: MATLAB
  • Default Branch: main
  • Size: 239 MB
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  • Stars: 6
  • Watchers: 4
  • Forks: 0
  • Open Issues: 0
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Created about 4 years ago · Last pushed about 3 years ago
Metadata Files
Readme License

README.md

Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion

S. Dafarra, G. Romualdi and D. Pucci "Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion" in 2022 IEEE Transactions on Robotics (T-RO)

https://user-images.githubusercontent.com/18591940/179483328-c17e007f-06e7-4ae1-acff-7df65bfbd708.mp4

2022 IEEE Transactions on Robotics (T-RO)
Installation | IEEE | arXiv | YouTube

Reproducing the experiments

We support running the experiments via the provided Docker image.

  1. Pull the docker image: console docker pull ghcr.io/ami-iit/dcc-planner-docker:latest
  2. Launch the container: console xhost + docker run -it --rm \ --device=/dev/dri:/dev/dri \ --user user \ --env="DISPLAY=$DISPLAY" \ --net=host \ ghcr.io/ami-iit/dcc-planner-docker:latest
  3. The application will start automatically

The videos and the data from the experiments will be saved in the folder ../SavedVideos.

It is possible to run tests with different parameters by running the following command console OMP_NUM_THREADS=1 cpp_ws/build/dynamical-planner/bin/SolverForComparisonsUnitTest [options] with [options] being: console -s, --solver Linear solver to use with ipopt (string [=mumps]) -c, --complementarity Type of complementairity condition (string [=dynamical]) -v, --velocity Linear walking velocity (d [=0.05]) --normalForceDissipationRatio Normal Force Dissipation Ratio (one of the two parameters of the hyperbolic complementarity method). (d [=250]) --normalForceHyperbolicSecantScaling Normal Force Hyperbolic Secant Scaling (one of the two parameters of the hyperbolic complementarity method). (d [=500]) --complementarityDissipation The rate of dissipation for the complementarity (one of the two parameters of the dynamical complementarity method). (d [=20]) --dynamicComplementarityUpperBound The upper-bound for the dynamic complementairty (one of the two parameters of the dynamical complementarity method). (d [=0.05]) --classicalComplementarityTolerance The upper bound for the classical complementarity. (d [=0.004]) -?, --help print this message

In the docker image provided, only the linear solver mumps is supported.

If you want to replicate the installation on your PC please follow the Docker recipe.

Citing this work

If you find the work useful, please consider citing:

bib @ARTICLE{dafarra2022dcc, author={Dafarra, Stefano and Romualdi, Giulio and Pucci, Daniele}, journal={IEEE Transactions on Robotics}, title={Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion}, year={2022}, volume={38}, number={6}, pages={3414-3433}, doi={10.1109/TRO.2022.3183785}}

Maintainer

This repository is maintained by:

| | | | :----------------------------------------------------------: | :--------------------------------------------------: | | | @S-Dafarra |

Owner

  • Name: Artificial and Mechanical Intelligence
  • Login: ami-iit
  • Kind: organization
  • Location: Italy

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Dependencies

.github/workflows/docker.yaml actions
  • actions/checkout main composite
  • elgohr/Publish-Docker-Github-Action main composite
.github/workflows/matlab.yml actions
  • actions/checkout master composite
  • actions/upload-artifact v3 composite
  • matlab-actions/run-command v1 composite
  • matlab-actions/setup-matlab v1 composite
.github/workflows/tests.yml actions
  • actions/download-artifact v3 composite
  • actions/upload-artifact v3 composite
dockerfiles/Dockerfile docker
  • nvidia/opengl 1.2-glvnd-devel-ubuntu20.04 build