operational space whole-body control library.

based on,

Yisoo Lee, Junewhee Ahn, et al. "Computationally Efficient HQP-based Whole-body Control Exploiting the Operational-space Formulation." 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2021.

Junewhee Ahn, et al. "Time-Efficient Contact Consistent Whole-Body Control Framework via Reduced-Dimension Dynamics Construction" 2024 IEEE ACCESS

Junewhee Ahn, et al. "Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics" 2025 International Journal of Control, Automation and Systems

How to ...

prerequisites

• Eigen3
• RBDL
• qpOASES

install RBDL

git clone --recursive https://github.com/saga0619/rbdl-orb
cd rbdl-orb
mkdir build
cd build
cmake ..
make all
sudo make install

install qpOASES

git clone https://github.com/saga0619/qpoases
cd qpoases
mkdir build
cd build
cmake ..
make all
sudo make install

How to install

mkdir build
cd build 
cmake ..
make
sudo make install

Unit Test and Benchmark

cmake -DRUN_TEST=ON -DRUN_BENCHMARK=ON -DCMAKE_BUILD_TYPE=Debug ..

How to play with

see example