Hector Open-source Simulation Software in MATLAB/Simulink

HECTOR: Humanoid for Enhanced ConTrol and Open-source Research

This branch contains the MATLAB/Simulink simulation for the Hector humanoid robot.

Introduction Video: https://youtu.be/NcW-NFwjMh0

Dependencies:

1. MATLAB & Simulink 2023a +
2. Simulink Simscape + Simscape Multibody Library
3. CasADi for MATLAB
4. qpOASES (included in CasADi)

System Requirements:

• It is suggested to run this simulation on a Windows PC with Windows 10 and later;
• Linux PC may run into problems with path definitions in Simulink (but easily fixable on the user end);

Installation:

• Download and unzip Hector_Simulation to your desired directory;
• Download and unzip CasADi MATLAB to the same directory;
• Download and install MATLAB 2023a (or later version);

How to Run:

• Launch MATLAB 2023a (or later version);
• Add to path: entire simulation folder and subfolders, entire CasADi Library folder and subfolders;
• Open and run Initiate_Simulation.m to load model and simulation parameters;
• Open Hector_Simulation.slx and modify simulation base on your need;
• Press Ctrl + D to build model;
• Run model/simulation in Mechanics Explorer (note that simulation does not run in real-time);
• User may comment/uncomment arm assembly and control in Simulink model;

Cite Us:

Thank you for choosing our software for your research and development, we highly appreciate your citing our work:

1. Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots: https://arxiv.org/abs/2104.00065

  @inproceedings{li2021force,
  title={Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots},
  author={Li, Junheng and Nguyen, Quan},
  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
  pages={1024--1030},
  year={2021},
  organization={IEEE}
}

Contact Information:

Junheng Li -- [email protected]

License：

Both Hector simulation and controller code follow the 3-Clause BSD License. Please read the License.md for details.

Acknowledgment:

The authors would like to thank Zhanhao Le and Han Gong for contributing to the Matlab/Simulink open-source software.