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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.
- Maintainer status: developed
- Maintainer: Alexander W. Winkler <alexander.w.winkler AT gmail DOT com>
- Author: Alexander W. Winkler
- License: BSD
- External website: http://github.com/ethz-adrl/towr
- Bug / feature tracker: http://github.com/ethz-adrl/towr/issues
- Source: git https://github.com/ethz-adrl/towr.git (branch: master)
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.
- Maintainer status: developed
- Maintainer: Alexander W. Winkler <alexander.w.winkler AT gmail DOT com>
- Author: Alexander W. Winkler
- License: BSD
- External website: http://github.com/ethz-adrl/towr
- Bug / feature tracker: http://github.com/ethz-adrl/towr/issues
- Source: git https://github.com/ethz-adrl/towr.git (branch: master)
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.
- Maintainer status: developed
- Maintainer: Alexander W. Winkler <alexander.w.winkler AT gmail DOT com>
- Author: Alexander W. Winkler
- License: BSD
- External website: http://github.com/ethz-adrl/towr
- Bug / feature tracker: http://github.com/ethz-adrl/towr/issues
- Source: git https://github.com/ethz-adrl/towr.git (branch: master)
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.
- Maintainer status: developed
- Maintainer: Alexander W. Winkler <alexander.w.winkler AT gmail DOT com>
- Author: Alexander W. Winkler
- License: BSD
- External website: http://github.com/ethz-adrl/towr
- Bug / feature tracker: http://github.com/ethz-adrl/towr/issues
- Source: git https://github.com/ethz-adrl/towr.git (branch: master)
Contents
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
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.