CrEGOpt: Cross Entropy Gait Optimization For Legged Systems

Official code implementation of the paper entitled Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization by Ioannis Tsikelis and Konstantinos Chatzilygeroudis.

See more at https://nosalro.github.io/cregopt.

Maintainers

• Ioannis Tsikelis (University of Patras) - tsikelis.i@proton.me
• Konstantinos Chatzilygeroudis (University of Patras) - costashatz@upatras.gr

Citing CrEGOpt

If you use this code in a scientific publication, please use the following citation:

@inproceedings{tsikelis2024gait,
      title={Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization},
      author={Tsikelis, Ioannis and Chatzilygeroudis, Konstantinos},
      booktitle={Submitted to IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
      year={2024}
    }

Replicating the paper results

Clone this repository.

git clone git@github.com:NOSALRO/cregopt.git

The required libraries are added as submodules.

cd cregopt/.ci/
git submodule init
git submodule update

*This code uses the HSL_MA97 parallel solver package for IPOPT, which is licensed (more info here). If you have the .zip file, you should extract its contents in the .ci/coinshl folder.

Build the docker image.

docker build -t ipopt .

Start the docker container.

cd .. # cd to the project root directory
docker run --rm -it --net=host -e DISPLAY -v ${HOME}/.Xauthority:/home/robot/.Xauthority -v "$(pwd)":/home/robot/code --entrypoint /bin/bash ipopt

In the docker container build the experiment executables and run the bash script that generates and stores the resutls.

cd code/
mkdir build && cd build
cmake ..
make -j
cd ..# cd to project's root directory
cd tools/

./run_experiment_1 # Run 1st paper experiment.
./run_experiment_2 # Run 2nd paper experiment.
./run_experiment_3 # Run 3rd paper experiment.

The experiment results will be automatically exported in the [project root directory]/tools/results in csv form.

Acknowledgments

This work was supported by the Hellenic Foundation for Research and Innovation (H.F.R.I.) under the "3rd Call for H.F.R.I. Research Projects to support Post-Doctoral Researchers" (Project Acronym: NOSALRO, Project Number: 7541).

This work was conducted within the Laboratory of Automation and Robotics (LAR), Department of Electrical and Computer Engineering, and the Computational Intelligence Lab (CILab), Department of Mathematics at the University of Patras, Greece.