[This is Example for Readme File]

Short one-line description.
예: MPC-based Whole-Body Controller for Humanoid Robots.

Overview

이 저장소는 [로봇 이름/시뮬레이터]에서 [제어 방법]을 구현한 ROS 2 패키지입니다.
본 연구는 [논문명/프로젝트명]의 일부로 수행되었습니다.

Dependencies

• ROS 2 Humble (>= 2022.05)
• Python 3.10 / C++17
• Pinocchio >= 2.6.15
• acados >= 0.2.0

설치 예시:

sudo apt install ros-humble-ros2-control ros-humble-gazebo-ros-pkgs
pip install pinocchio==2.6.15

Installation

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/<org>/<repo>.git
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

Usage

ros2 launch <package_name> sim.launch.py world:=lab_world
ros2 run <package_name> mpc_controller --ros-args -p horizon:=30

Examples

1. MPC Tracking – Humanoid walking in Gazebo

   ros2 launch mpc_humanoid walking.launch.py

2. Impedance Control – 7-DoF Arm tracking trajectory

   ros2 launch impedance_control demo.launch.py

Citation

If you use this code in your research, please cite:

@inproceedings{kim2025mpc,
  title     = {MPC-based Whole-Body Control for Humanoid Robots},
  author    = {Kim, Sanghyun and Others},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2025}
}

License

This project is licensed under the MIT License - see the LICENSE file for details.

Contact

Maintainer: [이름] ()
Lab: RCI Lab @ Kyung Hee University