RAMP: Reaction-Aware Motion Planning

This is a pure C++ library for locomotion of multi-limbed articulated robots, providing reaction-aware trajectory optimization and momentum distribution algorithms.

Features

• ramp::lrst (Low-Reaction Swing Trajectory): Generates optimal swing trajectories using Bézier curves and NLopt to minimize base reaction forces and moments.
• ramp::md (Momentum Distribution): Analytically computes the optimal base velocity and joint velocities to distribute momentum across support limbs.

Requirments

• ROS 2 (Humble)
• NLopt

Installation

# Clone repository
mkdir -p ~/ramp_ws/src
cd ~/ramp_ws/src
git clone https://github.com/MasazumiImai/RAMP.git

# Build
cd ~/ramp_ws
colcon build --packages-select ramp --symlink-install
source install/setup.bash

Usage

RAMP uses a Dependency Injection (Callback) architecture. You need to provide the necessary calculations (IK, mass matrices) via std::function.

Example: TBA

Citation

To cite RAMP in your academic publication, please use the following BibTeX entry:

@article{ribeiro2023ramp,
  title={RAMP: Reaction-aware motion planning of multi-legged robots for locomotion in microgravity},
  author={Ribeiro, Warley FR and Uno, Kentaro and Imai, Masazumi and Murase, Koki and Yoshida, Kazuya},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  pages={11845--11851},
  year={2023},
  organization={IEEE}
}

Citing LRST

To cite LRST (Low-Reaction Swing Trajectory), please use the following BibTeX entry:

@inproceedings{ribeiro2022low,
  title={Low-reaction trajectory generation for a legged robot in microgravity},
  author={Ribeiro, Warley FR and Uno, Kentaro and Yoshida, Kazuya},
  booktitle={IEEE/SICE International Symposium on System Integration (SII)},
  pages={505--510},
  year={2022},
  organization={IEEE}
}

Authors and Maintainers

• Warley F. R. Ribeiro
• Masazumi Imai
• Kentaro Uno