ARMOUR - RobustMovers

A C++ library implementing the robust controller for robotic manipulators introduced in ARMOUR (Section VII).

For more information on ARMOUR (Autonomous Robust Manipulation via Optimization with Uncertainty-aware Reachability), please refer to our webpage and the paper.

Features

• Multiple controller implementations:
  • ARMOUR
  • Passivity-based controllers
  • Robust interval-based controllers
  • PID controllers with gravity compensation
  • Adaptive controllers
• Python bindings for easy integration with Python-based projects
• Support for Kinova Gen3 robot arm with examples in Python
• Visualization using PyBullet

Structure

RobustMovers/
├── Controllers/         # Controller implementations
├── Dynamics/            # Dynamics computation (RNEA)
├── Examples/            # Usage examples
│   └── Kinova/          # Examples for Kinova Gen3 robot
├── Robots/              # Robot models
│   └── kinova-gen3/     # Kinova Gen3 model and URDF
├── Tests/               # Test files
└── docker/              # Docker configuration

Dependencies

• C++17 compiler (GCC or Clang)
• CMake (>= 3.18)
• Eigen3 (>= 3.3.7)
• Pinocchio (>= 3.1.0)
• Boost (system, filesystem, serialization)
• GSL
• yaml-cpp
• Python 3.10+ (for Python bindings)
• nanobind (for Python bindings)
• PyBullet (for visualization)

Installation

Using Docker (Strongly Recommended)

1. Setting up the docker: The repository includes a Dockerfile that sets up all required dependencies.

   In Visual Studio Code, simply click ctrl+shift+P and search "Dev Containers: Rebuild and Reopen Container". It will build the environment automatically for you from the Dockerfile so that you don't need to follow the steps below.

2. Build the project:

   mkdir build && cd build
   cmake ..
   make -j$(nproc)

Manual Installation

1. Install the dependencies:

   # Ubuntu/Debian
   sudo apt-get install build-essential cmake libboost-all-dev libgsl-dev libeigen3-dev libyaml-cpp-dev
   
   # Install Pinocchio (follow instructions at https://github.com/stack-of-tasks/pinocchio)

2. Build the project:

   mkdir build && cd build
   cmake ..
   make -j$(nproc)

Examples

You can find complete examples in the Examples/ directory:

• Examples/Kinova/JointSpaceControl/: Joint space control examples for the Kinova Gen3 robot arm

Authors

Bohao Zhang (jimzhang@umich.edu): Current maintainer, Robust controller implementation in C++.

Jonathan Michaux (jmichaux@umich.edu): Robust controller theory.

Patrick D. Holmes (pdholmes@umich.edu): Robust controller theory.

License

ARMOUR is released under a GNU license. For a list of all code/library dependencies, please check dependency section. For a closed-source version of ARMOUR for commercial purpose, please contact the authors.

An overview of the theoretical and implementation details has been published in arxiv. If you use ARMOUR in an academic work, please cite using the following BibTex entry:

@article{article,
author = {Michaux, Jonathan and Holmes, Patrick and Zhang, Bohao and Chen, Che and Wang, Baiyue and Sahgal, Shrey and Zhang, Tiancheng and Dey, Sidhartha and Kousik, Shreyas and Vasudevan, Ram},
year = {2023},
month = {01},
pages = {},
title = {Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty}
doi={10.48550/arXiv.2301.13308}}