This repository contains the C++ implementation of active inference for robot control.
This repository contains the implementation of active infernce to control the real Franka Emika Panda 7-DOF robot arm. The control is going to be in the joint space using torque commands and position/velocity sensors.
"AICpanda.cpp" makes the robot move to a desired goal. "AICpandapickplace" makes the robot perform a cycle which will be completed with the pick and place of objects later on.
The repository also contains a ROS package to use the ROS infrasctucture to control the Panda. The package should be installed within franka_ros (https://github.com/frankaemika/franka_ros)
A video clip showing a comparison between a model reference adaptive controller (MRAC) and the novel active inference controller (AIC) is available at https://youtu.be/Vsb0MzOp_TY