wholeBodyControllers

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

Dependencies

This repository depends upon the following Software/repos:

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

It is suggested to install codyco-modules,icub-gazebo,Gazebo-yarp-plugins and WB-Toolbox using codyco-superbuild (enable CODYCO_USES_GAZEBO, CODYCO_USES_MATLAB, options).

Structure of the repo

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

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

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

• library: a collection of functions/scripts in common between different controllers. [README]

• utilities: Simulink models for debugging. [README]

Installation and usage

If all the required dependencies are installed, it is just necessary to clone this repository on your pc.

Mantainers

Marie Charbonneau (https://github.com/pi-q)

torqueWalkingController