Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped

This repository contains the code for the paper "Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped".

An overview of the paper can be found here.

The main contents of this repository include:

• A simulation environment in drake and ROS1, with a simplified model of the olympus robot, to test the proposed attitude controller. ( The full model along with more details about the design and overall can be found in the Olympus design repo.)
• The code for the proposed controller

Installation Instructions

1. Clone the repository

mkdir -p mpc_ws/src
cd mpc_ws/src
git clone [email protected]:ntnu-arl/olympus_mpc_demo.git

2. Install the simulation: olympus_simulation

3. Install the controller: mpc_controller

Run an example:

In seperate terminals (after sourcing):

roslaunch olympus_drake_ros sim.launch    #run simulation
roslaunch mpc_controller wbc.launch       #run attitude controller
roslaunch mpc_controller plot.launch      #view important plots for the MPC
rosrun    mpc_controller reference_pub.py #publish attitude reference

References

If you use this work in your research, please cite the following publications:

Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped Link to paper

@article{papadakis2024olympusmpc,
  title={Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped},
  author={Papadakis, Michail and Olsen, Jørgen Anker and Poulakakis, Ioannis and Alexis, Kostas},
  journal={arXiv preprint arXiv:2409.14567},
  year={2024},
  url={https://arxiv.org/abs/2409.14567}
}

Design and experimental verification of a jumping legged robot for martian lava tube exploration Link to paper

@inproceedings{olsen2023design,
  title={Design and experimental verification of a jumping legged robot for martian lava tube exploration},
  author={Olsen, J{\o}rgen Anker and Alexis, Kostas},
  booktitle={2023 21st International Conference on Advanced Robotics (ICAR)},
  pages={452--459},
  year={2023},
  organization={IEEE}
}

Contact

You can contact us for any questions:

• Michail Papadakis
• Jørgen Anker Olsen
• Kostas Alexis