An Architecture for the Versatile Control of Legged Robots.
github.com/leggedrobotics/free_gait
Free Gait is a software framework for the versatile, robust, and task-oriented control of legged robots. The Free Gait interface defines a whole-body abstraction layer to accommodate a variety of task-space control commands such as end effector, joint, and base motions. The defined motion tasks are tracked with a feedback whole-body controller to ensure accurate and robust motion execution even under slip and external disturbances. The application of this framework includes intuitive tele-operation of the robot, efficient scripting of behaviors, and fully autonomous operation with motion and footstep planners.
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.