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李群积分器实现跳跃 模型预测控制

Shell 0.01% JavaScript 1.16% C++ 39.22% Python 0.02% Perl 0.01% C 48.99% Java 0.01% R 0.01% Assembly 0.29% MATLAB 0.08% Max 0.52% Processing 0.51% CSS 0.45% TeX 0.01% Makefile 0.03% HTML 8.69% CMake 0.01% Batchfile 0.01%

archer_hopper's Introduction

Hopping Robot Code

This is a (minimally documented) repository for the ICRA 2023 submission: "Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors". If you have questions or would like more documentation, please feel free to reach out to me!

Dependencies

  • Eigen
  • Yaml-cpp
  • OSQP
  • OSQP-Eigen
  • glfw3
  • Pinocchio (3-preview branch)
  • ROS
  • Mujoco

ControlStack

This directory contains all of the code for controlling and simulating the robot. Once built, run ./hopper_ctrl and ./hopper_sim in two separate terminals.

HardwareStack

This directory contains the code for the hardware platform.

Connection Diagram

Connection Diagram

archer_hopper's People

Contributors

noelc-s avatar

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