stephanecaron/lipm_walking_controller repository overview

⁠LIPM Walking Controller

Docker image of the walking and stair climbing controller that we use on the HRP-4 and HRP-2Kai humanoid robots. We applied this controller to make HRP-4 climb stairs⁠ in an industrial demonstrator at the Airbus Saint-Nazaire factory⁠.

This image includes a fully functional build and simulation environment where you can try the controller on the open-source JVRC-1 robot model. Feel free to modify it and try new things!

⁠Getting started

This image has been tested on Ubuntu LTS releases from 14.04 to 18.04. Depending on your release you might need to give Docker permissions to connect to X11:

xhost +local:docker

Pull and run the Docker image by running:

docker run -it --rm --user ayumi -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix:rw stephanecaron/lipm_walking_controller lipm_walking --floor

You should end up with the following windows:

See the Graphical user interface⁠ page of the wiki for further instructions on how to use this GUI.

Check out the Docker troubleshooting⁠ section of the documentation⁠ if you encounter any problem.