G. Romualdi, S. Dafarra, G. L'Erario, I. Sorrentino, S. Traversaro and D. Pucci "Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment" in IEEE 2022 International Conference on Robotics and Automation (ICRA)
Online_Non-linear_Centroidal_MPC_for_Humanoid_Robot_Locomotion_with_Step_Adjustment.mp4
We support running the experiments via the provided Docker image.
- Pull the docker image:
docker pull ghcr.io/ami-iit/centroidal-mpc-walking-docker:latest
- Launch the container:
xhost + docker run -it --rm \ --device=/dev/dri:/dev/dri \ --user user \ --env="DISPLAY=$DISPLAY" \ --net=host \ ghcr.io/ami-iit/centroidal-mpc-walking-docker:latest
- Wait for
gazebo
running and then start the experiment
๐ฅ Please check this video if you want to watch a simulation experiment.
gazebo
real-time factor is scaled of factor 10. This is necessary since the linear solver used by IPOPT
in the docker image is mumps
. Unfortunately, other linear solvers (e.g. ma27
) can be downloaded but not redistributed. Please check here.
If you want to speed up the simulation you may install IPOPT 3.13.4
with CoinBrew
+ HSL solver
as explained here.
If you find the work useful, please consider citing:
@INPROCEEDINGS{9811670,
author={Romualdi, Giulio and Dafarra, Stefano and L'Erario, Giuseppe and Sorrentino, Ines and Traversaro, Silvio and Pucci, Daniele},
booktitle={2022 International Conference on Robotics and Automation (ICRA)},
title={Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment},
year={2022},
volume={},
number={},
pages={10412-10419},
doi={10.1109/ICRA46639.2022.9811670}}
This repository is maintained by:
@GiulioRomualdi |