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}}