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:<br/> source scripts/install/install_cmake.sh
• Install doxygen:<br/> source scripts/install/install_doxygen.sh
• Install zmq and cppzmq:<br/> source scripts/install/install_zmq.sh
• Install protobuf:<br/> source scripts/install/install_protobuf.sh
• Install plotjuggler:<br/> source scripts/install/install_plotjuggler.sh
• Install dart:<br/> source scripts/install/install_dart.sh
• Install anaconda
• Install python dependancies:<br/> conda env create -f pnc.yml
• Clone the repository:<br/> git clone https://github.com/junhyeokahn/PnC.git

Compile and Run the Code

• Initiate python env:<br/> conda activate pnc
• Compile:<br/> mkdir build && cd build && cmake.. && make -j4
• Run dart sim:<br/> ./build/bin/run_atlas
• Run pybullet sim:<br/> python simulator/pybullet/draco_main.py

API documentation

• Create doxygen:<br/> 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}}