Thing to prepare prior runing the script: ** Gurobi license is require for runninng this simulation, may refer to: https://www.gurobi.com/downloads/free-academic-license/#show_instructions
This simulation package is the walking robot control with the optimization of the center of mass of robot in performing the stable walk The optimization policy is constraint with the zero moment point theory, smoothing the continuous trajectory, and the modal of optimization used is the mixed integer quadratic programming.
The reference of this algorithm is: M. S. Ahn, H. Chae, and D. W. Hong, Unknown Terrain Locomotion for Quadrupeds based on Visual Feedback and Mixed-Integer Convex Optimization, In: IEEE Int. Conf. Intell. Robots Syst(IROS) pp 3791-3798 (2018)
Manual in launching robot simulation platform and running walking simulation:
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Launch the robot into gazebo platform:
roslaunch fourleg_gazebo hello.launch
OPEN ANOTHER TAB chanege to script directory : cd ~/catkin_ws/src/fourleg_gazebo/script 2.open the virtual environment for running the optimization in anaconda conda config --set auto_activate_base True ←{set it False to deactivate it} source ~/.bashrc
3.Run the simulation in ros conda activate ros_env
##for running with MIQP optimizer
./JP_COM_QP_OMNI_DIR_FV3_v2.py
##for running with trained joint
./Joint_publisher_with_trained_joint.py