Package Summary

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. This library provides implementations for variables, costs and constraints that can be used to represent a legged locomotion problem. The resulting Nonlinear Programming Problem (NLP) can then be solved with off-the-shelf solvers, e.g. Ipopt using the generic optimizer interface ifopt.

Package Summary

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. This library provides implementations for variables, costs and constraints that can be used to represent a legged locomotion problem. The resulting Nonlinear Programming Problem (NLP) can then be solved with off-the-shelf solvers, e.g. Ipopt using the generic optimizer interface ifopt.

Package Summary

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. This library provides implementations for variables, costs and constraints that can be used to represent a legged locomotion problem. The resulting Nonlinear Programming Problem (NLP) can then be solved with off-the-shelf solvers, e.g. Ipopt using the generic optimizer interface ifopt.

Package Summary

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. This library provides implementations for variables, costs and constraints that can be used to represent a legged locomotion problem. The resulting Nonlinear Programming Problem (NLP) can then be solved with off-the-shelf solvers, e.g. Ipopt using the generic optimizer interface ifopt.


https://i.imgur.com/qliQVx1.png

monped_hopper.gif

Install

To install the software, type

$ sudo apt-get install ros-<distro>-towr_ros

If the binaries for your distro don't exist yet, clone the repo into your catkin workspace as described here:

https://github.com/ethz-adrl/towr.

Run

To run the program, type

$ roslaunch towr_ros towr_ros.launch

towr_gui.gif

Example Motions

More examples can be found here:

Publications

If you use this library in an academic context, please cite the following paper:

@article{winkler18,
  author    = {Winkler, Alexander W and Bellicoso, Dario C and 
               Hutter, Marco and Buchli, Jonas},
  title     = {Gait and Trajectory Optimization for Legged Systems 
               through Phase-based End-Effector Parameterization},
  journal   = {IEEE Robotics and Automation Letters (RA-L)},
  year      = {2018},
  month     = {July},
  pages     = {1560-1567},
  volume    = {3},
  doi       = {10.1109/LRA.2018.2798285},
}

Developers

For users interested in looking a bit behind the curtains, the Github Readme is the way to start.

Feedback

Please ask usage and general trajectory optimization questions on ROS Answers using the tag towr.

For specific code issues/bugs or improvements, use Github's issue tracker.

Wiki: towr (last edited 2018-07-25 08:59:59 by AlexanderWinkler)