This branch contains the ROS+Gazebo simulation for the Hector humanoid robot.
For humanoid ROS model with arms use the ROS_Humanoid_Simulation branch.
Introduction Video: https://youtu.be/NcW-NFwjMh0
Video associated with preprint "Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research": https://youtu.be/-r0QoxQgshk
sudo apt-get install ros-noetic-controller-manager ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-velocity-controllers ros-noetic-position-controllers ros-noetic-robot-controllers ros-noetic-robot-state-publisher ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
If you want to simulate with Gazebo, we recommend x86 platform. ARM platform is not suggested for simulation. So, if you run this code on ARM platform, please remove Simulation related folder first.
The current system environment is:
Use command to open .bashrc file:
gedit ~/.bashrc
Make sure the following exist in your ~/.bashrc
file or export them in terminal. noetic
, gazebo-11
and ~/catkin_ws
should be replaced in your own case.
source /opt/ros/noetic/setup.bash
source /usr/share/gazebo-11/setup.sh
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
cd ~/catkin_ws
catkin_make
NOTE: If it is the first time to compile, Please compile the laikago_msgs first by following command:
complie the package
catkin_make -DCMAKE_BUILD_TYPE=Release
roslaunch unitree_gazebo biped.launch
The robot should be standing on the ground
In a new terminal, enter and source your workspace, then run: rosrun hector_control hector_ctrl
Click the start button at the bottom of the simulator, the robot should stand up/move away
In some occasions the controller does not kick in after starting, please terminate the controller with ctrl + \. Then go back to the simulator, pause, and reset (ctrl + R). Rerun controller.
Thank you for choosing our software for your research and development, we highly appreciate your citing our work:
@article{li2023dynamic,
title={Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research},
author={Li, Junheng and Ma, Junchao and Kolt, Omar and Shah, Manas and Nguyen, Quan},
journal={arXiv preprint arXiv:2312.11868},
year={2023}
}
@inproceedings{li2021force,
title={Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots},
author={Li, Junheng and Nguyen, Quan},
booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
pages={1024--1030},
year={2021},
organization={IEEE}
}
Junheng Li -- junhengl@usc.edu Yiyu Chen -- yiyuc@usc.edu
Please read the License.md for details.
The authors would like to express special thanks to MIT Biomimetic Lab for providing the cheetah MPC framework and Unitree Robotics for providing the Unitree gazebo simulation framework.
此处可能存在不合适展示的内容,页面不予展示。您可通过相关编辑功能自查并修改。
如您确认内容无涉及 不当用语 / 纯广告导流 / 暴力 / 低俗色情 / 侵权 / 盗版 / 虚假 / 无价值内容或违法国家有关法律法规的内容,可点击提交进行申诉,我们将尽快为您处理。