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
收藏
页数：11
相关论文
共 20 条
  • [1] [Anonymous], GLPK GNU LINEAR PROG
  • [2] Bambade A, 2022, ROBOT SCI SYS
  • [3] Task-Space Control Interface for SoftBank Humanoid Robots and its Human-Robot Interaction Applications
    Bolotnikova, Anastasia
    Gergondet, Pierre
    Tanguy, Arnaud
    Courtois, Sebastien
    Kheddar, Abderrahmane
    [J]. 2021 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2021, : 560 - 565
  • [4] Prioritized Optimization for Task-Space Control
    de Lasa, Martin
    Hertzmann, Aaron
    [J]. 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 5755 - 5762
  • [5] Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty
    De Schutter, Joris
    De Laet, Tinne
    Rutgeerts, Johan
    Decre, Wilm
    Smits, Ruben
    Aertbelien, Erwin
    Claes, Kasper
    Bruyninckx, Herman
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2007, 26 (05) : 433 - 455
  • [6] Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors
    Del Prete, Andrea
    Mansard, Nicolas
    Ramos, Oscar E.
    Stasse, Olivier
    Nori, Francesco
    [J]. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2016, 13 (01)
  • [7] Optimization-Based Controllers for Robotics Applications (OCRA): The Case of iCub's Whole-Body Control
    Eljaik, G. Jorhabib
    Lober, Ryan
    Hoarau, Antoine
    Padois, Vincent
    [J]. FRONTIERS IN ROBOTICS AND AI, 2018, 5
  • [8] Hierarchical quadratic programming: Fast online humanoid-robot motion generation
    Escande, Adrien
    Mansard, Nicolas
    Wieber, Pierre-Brice
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2014, 33 (07) : 1006 - 1028
  • [9] qpOASES: a parametric active-set algorithm for quadratic programming
    Ferreau, Hans Joachim
    Kirches, Christian
    Potschka, Andreas
    Bock, Hans Georg
    Diehl, Moritz
    [J]. MATHEMATICAL PROGRAMMING COMPUTATION, 2014, 6 (04) : 327 - 363
  • [10] Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties
    Flacco, Fabrizio
    De Luca, Alessandro
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2015, 70 : 191 - 201
12