whole-body-controllers

A collection of Matlab/Simulink whole body controllers for balancing and walking of humanoid robots.

Dependencies

This repository depends upon the following Software/repositories:

• Matlab/Simulink, at least version R2014a
• WB-Toolbox
• Gazebo Simulator, at least version 7.8
• gazebo-yarp-plugins
• icub-gazebo and icub-gazebo-wholebody to access iCub models.
• codyco-modules (Optional, for using home positions and wholeBodyDynamics device).

NOTE: it is suggested to install whole-body-controllers and most of its dependencies (namely, codyco-modules,icub-gazebo,icub-gazebo-wholebody, gazebo-yarp-plugins and WB-Toolbox and their dependencies) using the robotology-superbuild (enable ROBOTOLOGY_USES_GAZEBO, ROBOTOLOGY_ENABLE_DYNAMICS, ROBOTOLOGY_USES_MATLAB options).

Structure of the repo

• config: a collection of scripts for correctly configure this repo. [README]

• torque-controllers: Simulink torque controllers for balancing and walking of humanoid robots. [README]

• doc: guidelines on how to create/use Simulink models for control. [README]

• legacy: legacy version of all Simulink models in the repo, written in the lowest supported matlab version (R2014a). [README]

• library: a library of functions/scripts used by the controllers. [README]

• utilities: Simulink models for debugging sensors on the real robot. [README]

Installation and usage

If all the required dependencies are correctly installed and configured, it is just necessary to clone this repository on your pc. An alternative is to install this repository through the robotology-superbuild. It is required to enable the option ROBOTOLOGY_ENABLE_DYNAMICS.

Mantainers

Gabriele Nava (@gabrielenava)