First, download and install Minikube following these instructions.
You will want at least 4GB of memory and 2 CPUs for Minikube to run OpenWhisk. If you have a larger machine, you may want to provision more (especially more memory).
Start Minikube with:
minikube start --cpus 2 --memory 4096 --kubernetes-version=v1.7.4
Put the docker network in promiscuous mode.
minikube ssh -- sudo ip link set docker0 promisc on
Your Minikube cluster should now be ready to deploy OpenWhisk.