HUMP: a Human-like Upper-limb Motion Planner

This library is designed to generate human-like trajectories of the arms and the hands of humanoid robots. Human-like single-arm and dual-arm motion is planned with a naturalistic obstacles-avoidance mechanism. The description of the planner and the results of different experimental tests are published in Gulletta, G., Silva, E. C. e, Erlhagen, W., Meulenbroek, R., Costa, M. F. P., & Bicho, E. (2021). A Human-like Upper-limb Motion Planner: Generating naturalistic movements for humanoid robots. International Journal of Advanced Robotic Systems. https://doi.org/10.1177/1729881421998585

Overview

The purpose of this document is to provide a brief installation guide of the library, while more technical details are described in the Wiki pages.

Installation guide

Follow the instructions to guide your installation of the HUMP library.

Dependencies

1. Install the Eigen libraries. In Linux Mint anf Ubuntu , you can type:

sudo apt install libeigen3-dev

2. Install the boost libraries. In Linux Mint anf Ubuntu, you can type:

sudo apt-get install libboost-all-dev

3. Install Coinipopt at the link https://github.com/zohannn/CoinIpopt

4. Install Google Test

5. Download a licensed version of AMPL into the folder /home/${USER}/AMPL

Then, prepare your installation folders

cd /home/${USER}
git clone https://github.com/zohannn/HUMP.git
cd HUMP

Debug

mkdir Debug
cd Debug
cmake -DCMAKE_BUILD_TYPE=Debug ..
make
make test
make doc

Release

mkdir Release
cd Release
cmake -DCMAKE_BUILD_TYPE=Release ..
make
make doc

Upgrades

• The HUMP has been upgraded by Sara Sá to support the collaborative robot Sawyer by Rethink Robotics© (see https://github.com/sarasa22/HUMP)
• The HUMP has been upgraded by JoaoQPereira to support the collaborative robot UR5 by Universal Robots© and integrate planing trajectories through a set of waypoints (see https://github.com/JoaoQPereira/HUMP)