This is the code base of the paper "When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots". This code contains the ARTO-AL optimizer, the whole-body controller for SLIDER robot and Gazebo simulation for SLIDER. This code is tested on Ubuntu 18.04 with ROS melodic.
The code requires installing Gazebo simulation, Pinocchio and Casadi. To run the code:
catkin make
- source the ros and this repo.
roslaunch time_slider_gazebo slider_controller.launch
If you just want to use the optimizer, navigate the folder "src/slider_controller/src", "footstep_planner_2d.py" implememts IPOPT optimizer and "footstep_planner_BFGS.cpp" implements the analytical gradient optimizer.