icub_crawling_v2

New implementation of crawling for the iCub robot

Installation

• Clone nn2 from: https://github.com/sferes2/nn2
• export NN2_INCLUDE_DIR=path_to_nn2 caution: it is important to use absolute paths !
• export EIGEN3_INCLUDE_DIR=path_to_eigen3 in ubuntu, it is /usr/include/eigen3
• cd modules/cpg/
• mkdir build; cd build
• ccmake ..

Usage

• start yarpserver

• start the simulator or the robot

• While still in the build folder, we can launch the module.

  ./cpg --config_file path/to/config_cpg.ini --robot NameOfTheRobot
  

Notes

• tutorial to control the motors: http://wiki.icub.org/brain/icub_motor_control_tutorial.html