ORCA is a c++ whole-body reactive controller meant to compute the desired actuation torque of a robot given some tasks to perform and some constraints.
Introduction
Motivation
Table of Contents
Getting Started
Reference
Examples
- Basic
- Intermediate
- Gazebo
- Simulating a single robot
- Full Code Listing
- Simulating multiple robots
- Full Code Listing
- Set robot state
- Full Code Listing
- Set robot state with gravity compensation
- Full Code Listing
- Using Gazebo to simulate an ORCA controller
- Full Code Listing
- Minimum jerk Cartesian trajectory following
- Full Code Listing
- Plotting
Controller Formulation
License Information
Authorship
Work on ORCA initially began in 2017 at the Institut des Systèmes Intelligents et de Robotique (ISIR). Since January 2018, active maintenance and development has been taken over by Fuzzy Logic Robotics S.A.S.
Maintainers
- Antoine Hoarau
- Ryan Lober
- Fuzzy Logic Robotics (info@fuzzylogicrobotics.com)
Contributors
- Vincent Padois
Partner Institutions
