Kino-dynamic Trajectory Optimization for Quadruped Robot

This software provides methods for kino-dynamic optimization for multiped robots. It contains a list of solvers and optimization problem for robotics optimal control.

Install required packages

Please make sure to install the following packages:

• the qp solver quadprog and the code manager

pip install quadprog treep

And catkin: https://docs.ros.org/api/catkin/html/

• Ubuntu

sudo apt-get install ros-[distro]-catkin

• From source

mkdir devel
cd devel
git clone https://github.com/ros/catkin.git
cd catkin
mkdir _build
cd _build
cmake ..
make
sudo make install

Getting started

Clone the repository in the desired work folder <work_folder>

mkdir devel
cd devel
git clone [email protected]:machines-in-motion/treep_machines_in_motion.git
treep --clone KINO_DYN_PLANNER

This operation should have cloned pacakges in workspace/src/ which will be refered as the <work_folder>
Compile the code, by running the following commands in the <work_folder>

cd workspace
catkin_make -DCMAKE_BUILD_TYPE=RELEASE `# or -DCMAKE_BUILD_TYPE=DEBUG if needed`

Once the code has been compiled, you can source the setup.bash file in devel/workspace/devel/setub.bash

source ./devel/setup.bash

Running a demo

cd <work_folder>/catkin/control/momentumopt/demos
python3 ../nodes/kino_dyn_planner_solo -i <path_to_config_file>

For example plan and execute a jumping motion with

python3 ../nodes/kino_dyn_planner_solo -i ../config/cfg_solo_jump.yaml

alternatives:

python2 ../nodes/kino_dyn_planner_solo -i ../config/cfg_solo_jump.yaml

rosrun momentumopt kino_dyn_planner_solo -i ../config/cfg_solo_jump.yaml

Configuration overview

The different configuration files are available in

<work_folder>/kino-dynamic-opt/src/catkin/motion_planning/momentumopt/config

The available motions are:

• Squatting: cfg_quadruped_squatting.yaml
• Lifting one leg: cfg_quadruped_lift_leg.yaml
• Lifting rear legs: cfg_quadruped_lift_rear.yaml
• Jump: cfg_solo_jump.yaml

For an explanation of the different settings in the configuration files, refer to cfg_solo_jump.yaml.

Experimental Section

Furthermore, there is a kinematic optimization over a horizon available, which allows for smoother trajectories, by running

cd <work_folder>/kino-dynamic-opt/src/catkin/motion_planning/momentumopt/demos
python3 ./PyDemoMomentumoptNew.py -i <path_to_config_file>

For example plan and execute lifting the rear leg motion with

python3 ./PyDemoMomentumoptNew.py -i ../config/cfg_demo01_twofeet.yaml

Configuration overview

The available motions are:

• Lifting rear legs: cfg_demo01_twofeet.yaml

Saving .dat file for dynamic graph

Executing

python3 ../nodes/kino_dyn_planner_solo -i <path_to_config_file>

automatically saves the quadruped_positions.dat and the quadruped_velocities.dat files in the <work_folder>/kino-dynamic-opt/src/catkin/motion_planning/momentumopt/demos directory. These files can then be supplied to dynamic graph and for example executed on the real robot.

License

Copyright (c) 2019, New York University and Max Planck Gesellschaft.

Authors

• Brahayam Ponton ([email protected]) (1)
• Majid Khadiv ([email protected]) (1)
• Julian Viereck ([email protected]) (1)
• Avadesh Meduri ([email protected]) (1-2)

(1): Max Planck Institute for Intelligent System, Tubingen, Germany
(2): New York University, New York, USA