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Planning and Control Algorithms for Robotics

PnC is a C++ library designed for generating trajectories for a robot system and stabilizing the system over the trajectories.

Installation

  • Install cmake:
    source scripts/install/install_cmake.sh
  • Install doxygen:
    source scripts/install/install_doxygen.sh
  • Install zmq and cppzmq:
    source scripts/install/install_zmq.sh
  • Install protobuf:
    source scripts/install/install_protobuf.sh
  • Install plotjuggler:
    source scripts/install/install_plotjuggler.sh
  • Install dart:
    source scripts/install/install_dart.sh
  • Install anaconda
  • Install python dependancies:
    conda env create -f pnc.yml
  • Clone the repository:
    git clone https://github.com/junhyeokahn/PnC.git

Compile and Run the Code

  • Initiate python env:
    conda activate pnc
  • Compile:
    mkdir build && cd build && cmake.. && make -j4
  • Run dart sim:
    ./build/bin/run_atlas
  • Run pybullet sim:
    python simulator/pybullet/draco_main.py

API documentation

  • Create doxygen:
    mkdir build && cd build && cmake.. && make view_docs

Citation

@article{10.3389/frobt.2021.712239,
	author = {Ahn, Junhyeok and Jorgensen, Steven Jens and Bang, Seung Hyeon and Sentis, Luis},
	journal = {Frontiers in Robotics and AI},
	pages = {257},
	title = {Versatile Locomotion Planning and Control for Humanoid Robots},
	volume = {8},
	year = {2021}}