walk_stablization_controller

This is a biped walking stabilizer package based on Choreonoid for thormang3,

Plese note that this work is still undergoing, and any comments or advise is welcome.

Dependencies

• Choreonoid

Please refer to choreonoid.org for the environment setup, you can find the standard installation procedure here, or with choreonoid_rosplugin here. This package is with the latter one and use catkin for build. I personnaly recommend Ubuntu 1604LTS for choreonoid for now.

• ROS

Since choreonoid rosplugin depends on ROS, please install ROS first. for Ubuntu 1604, it is Kinetic .

Package structure

• walk_stablization_controller
  • include
  • projects // project file for chorenoid
    • model // model file of thormang3 and simulation environment
  • src
  • CMakeLists.txt
  • package.xml

Installation

Once you have set up your catkin workspace and successfully build all four packages choreonoid,choreonoid_rosplugin,choreonoid_ros_samples, and choreonoid_joy, change the file path in readTrajc.hpp to the absolute path of catkin_ws/src/walk_stablization_controller/src/sample.txt, then

cd /to/your/catkin_ws/src/dir
catkin build walk_stablization_controller

after that, the built controller should be in /catkin_ws/build/walk_stablization_controller/src/lib/choreonoid-1.8/simplecontroller

cd /to/walk_stablization_controller/projects/dir
choreonoid Thormang3Walk.cnoid

and change the specify of simple controller for robot to walk_stablization_controller.so and the marker to MarkerController.so in the aforementioned controller directory.

Acknowledgment

This work is under the supervision of Dr. Shuuji Kajita, to whom I pay all my repect and gratitude, and all colleagues from HRG, AIST have helped me a lot.