Free Gait

An Architecture for the Versatile Control of Legged Robots

Free Gait is a software framework (whole-body abstraction layer) for the versatile control of legged robots. Through its interface, motions in task space can be defined for static and dynamic maneuvers. During execution, Free Gait tracks the desired motions robustly even under slip and external disturbances. The application of this framework includes intuitive tele-operation of the robot, efficient scripting of behaviors, and interface for motion and footstep planners.

Publications

If you use this work in an academic context, please cite the following publication(s):

• P. Fankhauser, D. Bellicoso, C. Gehring, R. Dubé, A. Gawel, M. Hutter, "Free Gait – An Architecture for the Versatile Control of Legged Robots", in IEEE-RAS International Conference on Humanoid Robots, 2016.

    @inproceedings{Fankhauser2016FreeGait,
        author = {Fankhauser, P{\'{e}}ter and Bellicoso, C. Dario and Gehring, Christian and Dub{\'{e}}, Renaud and Gawel, Abel and Hutter, Marco},
        booktitle = {IEEE-RAS International Conference on Humanoid Robots},
        title = {{Free Gait – An Architecture for the Versatile Control of Legged Robots}},
        year = {2016},
    }
  

Unit Tests

catkin build free_gait_core --no-deps --verbose --catkin-make-args run_tests