The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints

被引：0

作者：

Hoffman, Enrico Mingo ^{[1
,2
]}

Laurenzi, Arturo ^{[2
]}

Tsagarakis, Nikos G. ^{[2
]}

机构：

[1] Univ Lorraine, CNRS, Inria, F-54600 Villers Les Nancy, France

[2] Ist Italiano Tecnol, Humanoids & Human Ctr Mechatron Lab, I-16163 Genoa, Italy

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 2024年

关键词：

Robots; Libraries; Software; Vectors; Aerospace electronics; Planning; Kinematics; Service robots; Humanoid robots; Robot kinematics; HUMANOID ROBOTS;

D O I：

10.1109/MRA.2024.3487395

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The OpenSoT library is a state-of-the-art framework for instantaneous whole-body motion planning and control based on Quadratic Programming optimization. The library is designed to enable users to easily write and solve a variety of complex instantaneous whole-body control problems with minimal input, facilitating the addition of new tasks, constraints, and solvers. OpenSoT is designed to be real-time safe and can be conveniently interfaced with other software components such as ROS or other robotic-oriented frameworks. This paper aims to present the usage of the OpenSoT library to a large audience of researchers, engineers, and practitioners, as well as to provide insights into its software design, which has matured over nearly 10 years of development.

引用

页数：11

共 7 条

[1] OpenSoT: a Whole-Body Control Library for the Compliant Humanoid Robot COMAN
Rocchi, Alessio
Hoffman, Enrico Mingo
Caldwell, Darwin G.
Tsagarakis, Nikos G.
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 6248 - 6253
[2] Whole-body hierarchical motion and force control for humanoid robots
Liu, Mingxing
Lober, Ryan
Padois, Vincent
AUTONOMOUS ROBOTS, 2016, 40 (03) : 493 - 504
[3] Whole-body hierarchical motion and force control for humanoid robots
Mingxing Liu
Ryan Lober
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Autonomous Robots, 2016, 40 : 493 - 504
[4] Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
Ficht, Grzegorz
Behnke, Sven
2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, : 6597 - 6603
[5] An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots
Henze, Bernd
Dietrich, Alexander
Ott, Christian
IEEE ROBOTICS AND AUTOMATION LETTERS, 2016, 1 (02): : 700 - 707
[6] Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties
Oral, Dilay Yesildag
Barkana, Duygun Erol
Ugurlu, Barkan
2022 IEEE 17TH INTERNATIONAL CONFERENCE ON ADVANCED MOTION CONTROL (AMC), 2022, : 432 - 437
[7] Hierarchical Optimization-Based Hybrid Whole-Body Control for Wheel-Legged Robots
Liang, Yunpeng
Yin, Fulong
Peng, Zhihui
Zhao, Yanzheng
Yan, Weixin
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2024, PT IV, 2025, 15204 : 62 - 73

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