This distro contains all the dwl package under development. The Dynamic Whole-body Locomotion library (DWL) implements a set of functionalities to develop, design, and deploy motion planning, control and perception algorithms for legged locomotion. DWL has different modules such as: kinematics, dynamics, solvers (tree-search, optimization, etc), and environment descriptions. All these tools are designed for both fast prototyping and deployment thanks to its c++ implementation and Python bindings. The DWL toolbox can be used in various software frameworks such as ROS and LCM, and for real-time control and planning.
DWL was developed by Carlos Mastalli at Dynamic Legged Systems lab (DLS), Istituto Italiano di Tecnologia, Italy. The DWL is core toolbox used along of various software of the DLS lab at IIT.
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The source code is released under a BSD 3-Clause license.
Author: Carlos Mastalli, [email protected]
With support from the Dynamic Legged Systems lab at Istituto Italiano di Tecnologia
To build dwl-distro from source code, you first need to install the dwl dependencies. We recommend you to install them using the install_deps.sh script. The INSTALL_DEPS_PREFIX defines the folder where is installed its dependencies (usually /usr/local for linux machines). However you can install them in your local folder.
Once dependencies are installed, you can build the dwl-distro with ROS. Copy the entired distro into the src directory of your catkin workspace, and compile it:
cd your_ros_workspace/
catkin_make -DCMAKE_INSTALL_PREFIX=${/dwl/installation/path} -DINSTALL_DEPS_PREFIX=${/your/dependencies/path}
Finally you can generate the Python bindings and Doxygen documentation by doing:
cmake -DDWL_WITH_PYTHON=True -DDWL_WITH_DOC=True ../
You can install the dwl-distro as any catkin project.
- C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Motion planning for challenging locomotion: a study of decoupled and coupled approaches, IEEE International Conference on Robotics and Automation (ICRA), 2017
- B. Aceituno-Cabezas, C. Mastalli, H. Dai, M. Focchi, A. Radulescu, D. G. Calwell, J. Cappelletto, J. C. Griego, G. Fernardez, C. Semini, Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via MICP, IEEE Robotics and Automation Letters (RAL), 2017
- C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, D. G. Caldwell, C. Semini, Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion, IEEE International Conference on Robotics and Automation (ICRA), 2017
- C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences, IEEE International Conference on Robotics and Automation (ICRA), 2016
- C. Mastalli, A. Winkler, I. Havoutis, D. G. Caldwell, C. Semini, On-line and On-board Planning and Perception for Quadrupedal Locomotion, IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015
- A. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain, IEEE International Conference on Robotics and Automation (ICRA), 2015