Introduction

This is a walking module for NAO humanoid robot.

NAO is developed by Aldebaran Robotics: http://aldebaran-robotics.com/
The company provides a more advanced walking module, but its sources
are not publicly available. Furthermore, we use a different approach
to control the robot. 

The module depends on two libraries: nao_igm and smpc_solver. All sources
are published on http://github.com/asherikov. The detailed description of 
the logic of the module is given in the MS thesis, which is available on 
    http://asherikov.github.io/Projects/naowalk.html

Note, that if you want to build the module you need SDK or crosscompilation
toolkit provided by Aldebaran Robotics.

Refer to INSTALL file for instructions on installation process.

License

Copyright (c) 2011-2012 Alexander Sherikov. 
Copyright (c) 2010-2011 Antonio Paolillo, Dimitar Dimitrov.
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
   notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
   notice, this list of conditions and the following disclaimer in the
   documentation and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.

References

D. Gouaillier, C. Collette, and C. Kilner
"Omni-directional Closed-loop Walk for NAO"
IEEE-RAS International Conference on Humanoid Robots, pp. 448-454, 2010.