OpenWalker Project

This project includes all the ROS packages of the OpenWalker project.

OpenWalker will provide a set of open source packages to enable walking on common biped robot architectures with minimum user input information such as the robot descriptor URDF files and a minimal set of parameters such as desired hip height, foot sole reference frames in the kinematic chain, and available sensors in the robot. All the components will be kept as general as possible to give users the freedom to modify them with low effort in order to test new balance and locomotion methods, reducing the implementation-test times. OpenWalker will enable users to test their walking controllers in an increasing number of simulated and real biped robots. The number of available robots will grow as other robot models are implemented under the ros_control hardware interface.

The documentation is available here:

Framework Architecture Documentation

Credits

OpenWalker was developed by Emmanuel Dean, Florian Bergner, Rogelio Guadarrama-Olvera, Simon Armleder, and Gordon Cheng from the Institute for Cognitive Systems (ICS), Technical University of Munich, Germany.

Acknowledgment

This project has received funding from the European Union‘s Horizon 2020 research and innovation programme under grant agreement No 732287.