https://github.com/ami-iit/paper_romualdi_2022_icra_centroidal-mpc-walking
ICRA 2022 paper
https://github.com/ami-iit/paper_romualdi_2022_icra_centroidal-mpc-walking
Science Score: 23.0%
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○CITATION.cff file
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✓DOI references
Found 1 DOI reference(s) in README -
✓Academic publication links
Links to: arxiv.org, ieee.org -
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○Scientific vocabulary similarity
Low similarity (10.0%) to scientific vocabulary
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ICRA 2022 paper
Basic Info
Statistics
- Stars: 39
- Watchers: 3
- Forks: 5
- Open Issues: 0
- Releases: 0
Topics
Metadata Files
README.md
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
https://user-images.githubusercontent.com/16744101/163016195-2151ae19-6a9c-4fb5-9a57-92ee2cd8c899.mp4
Reproducing the experiments
We support running the experiments via the provided Docker image.
- Pull the docker image:
console docker pull ghcr.io/ami-iit/centroidal-mpc-walking-docker:latest - 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/centroidal-mpc-walking-docker:latest - Wait for
gazeborunning and then start the experiment
🎥 Please check this video if you want to watch a simulation experiment.
⚠️ Known issue: The gazebo real-time factor is scaled of factor 10. This is necessary since the linear solver used by IPOPT in the docker image is mumps. Unfortunately, other linear solvers (e.g. ma27) can be downloaded but not redistributed. Please check here.
If you want to speed up the simulation you may install IPOPT 3.13.4 with CoinBrew + HSL solver as explained here.
Citing this work
If you find the work useful, please consider citing:
bibtex
@INPROCEEDINGS{9811670,
author={Romualdi, Giulio and Dafarra, Stefano and L'Erario, Giuseppe and Sorrentino, Ines and Traversaro, Silvio and Pucci, Daniele},
booktitle={2022 International Conference on Robotics and Automation (ICRA)},
title={Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment},
year={2022},
volume={},
number={},
pages={10412-10419},
doi={10.1109/ICRA46639.2022.9811670}}
Maintainer
This repository is maintained by:
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| :----------------------------------------------------------: | :--------------------------------------------------: |
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| @GiulioRomualdi |
Owner
- Name: Artificial and Mechanical Intelligence
- Login: ami-iit
- Kind: organization
- Location: Italy
- Website: https://ami.iit.it/
- Repositories: 111
- Profile: https://github.com/ami-iit
GitHub Events
Total
- Watch event: 9
Last Year
- Watch event: 9
Committers
Last synced: about 1 year ago
Top Committers
| Name | Commits | |
|---|---|---|
| Giulio Romualdi | g****i@g****m | 32 |
| Silvio Traversaro | s****o@t****t | 1 |
Committer Domains (Top 20 + Academic)
Issues and Pull Requests
Last synced: about 1 year ago
All Time
- Total issues: 0
- Total pull requests: 1
- Average time to close issues: N/A
- Average time to close pull requests: 10 days
- Total issue authors: 0
- Total pull request authors: 1
- Average comments per issue: 0
- Average comments per pull request: 0.0
- Merged pull requests: 1
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 0
- Pull requests: 1
- Average time to close issues: N/A
- Average time to close pull requests: 10 days
- Issue authors: 0
- Pull request authors: 1
- Average comments per issue: 0
- Average comments per pull request: 0.0
- Merged pull requests: 1
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
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- traversaro (1)