This library provides an interface for a locomotion controller for legged robots. The current version comes along with an implementation for the quadruped StarlETH (leggedrobotics.ethz.ch).

Autonomous Systems Lab, ETH Zurich

Contact : Christian Gehring [gehrinch ( at ) ethz.ch]

Author(s): Christian Gehring, Peter Fankhauser, C. Dario Bellicoso, Stelian Coros

Date : 11-Dec-2014

This library is Free Software and is licensed under BSD 3-Clause.

• Eigen - linear algebra library (eigen.tuxfamily.org)
• kindr - kinematics and dynamics library (http://github.com/ethz-asl/kindr)
• tinyxml - XML parser
• OOQP - quadratic programming solver (http://pages.cs.wisc.edu/~swright/ooqp/)
• OOQPEI - Eigen interface for OOQP (http://github.com/ethz-asl/ooqp-eigen_interface)
• robotUtils - (trajectories, logger)
• robotModel - (model for robot StarlETH)

Build the library with CMake:

mkdir build
cd build
cmake ..
make

GTests are built as soon as the folder gtest exists in the root folder.

Download and use GTest:

wget http://googletest.googlecode.com/files/gtest-1.7.0.zip
unzip gtest-1.7.0.zip
ln -s gtest-1.7.0 gtest
mkdir build
cd build
cmake .. -DBUILD_TEST=ON
make check

The documentation is generated with Doxygen with:

cd build
make doc

The documentation is then available at /doc/doxygen/doc/html/index.html

• C. Gehring, S. Coros, M. Hutter, M. Bloesch, M. Hoepflinger, R. Siegwart, “Control of Dynamic Gaits for a Quadrupedal Robot”, IEEE International Conference on Robotics and Automation, 2013.

• C. Gehring, S. Coros, M. Hutter, M. Bloesch, P. Fankhauser, M. A. Hoepflinger, R. Siegwart, “Towards Automatic Discovery of Agile Gaits for Quadrupedal Robots”, Proc. of the IEEE/RSJ IEEE International Conference on Robotics and Automation (ICRA), 2014.