Operational Space Controllers

A testing platform for controller development and simulation for robotic systems that utilise the controllers developed in the damotion library. See the examples/ folder and README.md files therein for full descriptions of the current examples in this repository:

• examples/arm/: A simple 3-degree-of-freedom robotic arm. The control task is to track trajectories with the end-effector.
• examples/cassie: A model of the bipedal robot Cassie. The objective will eventually be to control the feet and centre of mass to track reference trajectories from a higher-level planner.

Requirements and installation

We require the following libraries to run the examples:

• glog
• damotion
• Mujoco (at least v3.0.0)

If you are working in Linux, install all of these dependencies with the following code.

cd <path_to_download>
mkdir build && cd build
cmake ..
sudo make install

Building the code

We recommend creating a build/ folder in the root directory of this repository in which to build the code. To build an example, enter the following into a terminal:

mkdir build && cd build
cmake ..
make <example>

You can then navigate to build/examples/<example>/ and execute the given example

Contact

For any questions, please contact Damian Abood (dabo9333@uni.sydney.edu.au) or Nic Barbara (nicholas.barbara@sydney.edu.au).