casannis_walking

Trajectory Optimization based on CasADi, implemented for IIT's Centauro robot.

✔️ Offline/online trajectory optimization for quadruped robots and quadruped manipulators carrying heavy payload.
✔️ Implemented using CasADi and its interface to Ipopt solver.
✔️ Implemented in Python, based on ROS.

Dependencies

The repo has been tested on Ubuntu 18.04 and 20.04, using the XbotCore 2 and Cartesian Interface developed within the HHCM lab of IIT. To use the repo you will need:

• centauro_contact_detection
• iit-centauro-ros-pkg
• xbot2_examples
• centauro_cartesio
• cartesio_collision_support (optional)
• yiannis_centauro_pytools (optional)
• hhcm_perception (optional)

Install & Build

casannis_walking is a catkin package. To install it you need to git clone into your workspace:

git clone https://github.com/ADVRHumanoids/casannis_walking.git

Build with catkin_make / catkin build

Run

The repo is not maintained to enable off-the-self deploying, but rather consists a record of the work done for the corresponding publication mentioned below. People interested are encouraged to contact the author.

For offline trajectory optimization try

mon launch casannis_walking cartesio.launch  
mon launch casannis_walking gait.launch

Or

mon launch casannis_walking cartesio_with_arm_ee.launch  
mon launch casannis_walking gait_payload.launch

For online trajectory optimization (under development) try

mon launch casannis_walking cartesio.launch  
rosrun casannis_walking online_simple_gait_replay_node.py
mon launch casannis_walking simple_gait_online_planner.launch

Publications

The repo is related with the following publication:

Dadiotis I., Laurenzi A., Tsagarakis N., “Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload”, 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022), Ginowan, Okinawa, Japan

Available: https://ieeexplore.ieee.org/document/10000252

If you want to refer to this work please cite with:

@inproceedings{dadiotis2022trajectory,
  title={Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload},
  author={Dadiotis, Ioannis and Laurenzi, Arturo and Tsagarakis, Nikos},
  booktitle={2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)},
  pages={291--298},
  year={2022},
  organization={IEEE}
}

Author

Ioannis Dadiotis, ioannis.dadiotis@iit.it