DynamicalPlanner
is a planner determines whole-body trajectories for a humanoid robot. Check the paper for a more thorough description.
iDynTree
(Version >= 0.11.103) It needs the optionsIDYNTREE_COMPILES_OPTIMALCONTROL
andIDYNTREE_USES_IRRLICHT
set toON
. The latter is useful for the visualization.Eigen3
matioCpp
FFmpeg
IPOPT
It is suggested to install it from source, including the HSL solvers (please check https://coin-or.github.io/Ipopt/INSTALL.html)
The planner is compatible with Linux/macOS and Windows, but it has been mainly tested on Ubuntu 20.04.
git clone https://github.com/ami-iit/dynamical-planner
cd dynamical-planner
mkdir build && cd build
cmake ../
make
[sudo] make install
The data for the papers has been obtained by running the SolverUnitTest
and SolverForComparisonUnitTest
executables. They are available after setting the CMake
variable BUILD_TESTING
to ON
.
@INPROCEEDINGS{9196801,
author={S. {Dafarra} and G. {Romualdi} and G. {Metta} and D. {Pucci}},
booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
title={Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach},
year={2020},
volume={},
number={},
pages={1511-1517},
doi={10.1109/ICRA40945.2020.9196801}}