https://github.com/ami-iit/paper_taliani_2025_icra_multimodal_locomotion_mpc
https://github.com/ami-iit/paper_taliani_2025_icra_multimodal_locomotion_mpc
Science Score: 36.0%
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○CITATION.cff file
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✓.zenodo.json file
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✓Academic publication links
Links to: ieee.org -
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○JOSS paper metadata
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○Scientific vocabulary similarity
Low similarity (13.1%) to scientific vocabulary
Repository
Basic Info
- Host: GitHub
- Owner: ami-iit
- Default Branch: main
- Size: 7.81 KB
Statistics
- Stars: 1
- Watchers: 3
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
Online Nonlinear MPC for Multimodal Locomotion
https://github.com/user-attachments/assets/14686435-7e4e-45d6-93d5-540ffdd34f39
Abstract
Aerial humanoid robots can enhance the efficiency and safety of rescue operations in disaster scenarios. The control of such complex machines presents many challenges, for instance, the control of the different locomotion strategies and the stabilization of the transition maneuvers. In this article, we present an online nonlinear Model Predictive Controller and the relative prediction model to stabilize walking and flying trajectories. The controller uses a reduced model to generate feasible base link references, thrust profiles, and contact forces while dealing with different locomotion strategies and transition maneuvers. The control algorithm is tested in a simulated environment using our aerial humanoid robot iRonCub under the effect of external disturbances. The proposed control strategy demonstrates to effectively stabilize the desired trajectories while keeping the problem still treatable online.
Installation
A quick way to install the dependencies is via conda package manager which provides binary packages for Linux, macOS and Windows of the software contained in the robotology-superbuild. Relying on the community-maintained conda-forge channel and also the robotology conda channel.
Please refer to the documentation in robotology-superbuild to install and configure a conda distribution. Then, once your environment is set, you can run the following command to install the required dependencies.
- Clone the repository:
sh https://github.com/ami-iit/paper_taliani_2025_icra_multimodal_locomotion_mpc.git - Install conda dependencies:
sh cd paper_taliani_2025_icra_multimodal_locomotion_mpc mamba env create -n <conda-environment-name> --file environment.yml mamba activate <conda-environment-name> - Add to your bashrc:
sh export ELEMENT_TRAJ_ADJ_PATH=/**insert-here-path-to**/paper_taliani_2025_icra_multimodal_locomotion_mpc export OMP_NUM_THREADS=1 - Install python repository:
sh pip install -e .
[!WARNING] Note that to replicate the paper results, you need to install the HSL solvers (here we use
ma97), which can be downloaded but not redistributed. Please check here.[!NOTE] The installation procedure has been tested on
Ubuntu 22.04.
Usage
Maintainer
This repository is maintained by:
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|:---:|:---:|
| | @STaliani |
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: 1
- Member event: 1
- Push event: 3
- Create event: 2
Last Year
- Watch event: 1
- Member event: 1
- Push event: 3
- Create event: 2
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Last synced: about 1 year ago
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Past Year
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