towr
teb_local_planner
| towr | teb_local_planner | |
|---|---|---|
| 1 | 1 | |
| 836 | 964 | |
| 0.8% | 2.6% | |
| 0.0 | 2.5 | |
| about 1 year ago | 18 days ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | BSD 3-clause "New" or "Revised" License |
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towr
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How to implement gait correction in my biped
If you're open to libraries, you can take a look at TOWR https://github.com/ethz-adrl/towr which does trajectory optimization and is fast enough to use in real-time.
teb_local_planner
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best algorithm [ indoor service robots ]
For the local planner/controller, which seems to be the meat of your problem here: I'd say in dynamic environments TEB is generally good (https://github.com/rst-tu-dortmund/teb_local_planner), BUT tuning it usually gets convoluted. Changing one parameter may have propagated effects throughout the algorithm. If you want to strictly follow your global path, I wouldn't really advise it.
What are some alternatives?
champ - MIT Cheetah I Implementation
Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library
Fast_RRT-ROS - RRT-ROS implementation.
turtlebot3_simulations - Simulations for TurtleBot3
OpenCat - An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
AIKIDO - Artificial Intelligence for Kinematics, Dynamics, and Optimization
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
Assemble-Them-All - [SIGGRAPH Asia 2022] Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly
popi_project - Here is everything you need to know about POPI, our open-source quadruped robot. If you want to check the videos we will release about it, you can have a look at our YouTube channel.
fields2cover_ros - A ROS interface of Fields2Cover