Work

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

Year: 2024

Type: article

Abstract: The Open Stack of Tasks (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 Robotic Operating System or other robotic-oriented frameworks. This article aims to present the use of the OpenSoT library to a large audience of researchers, engineers, and practitioners as well as provide insights into its software design, which has matured over nearly 10 years of development.

Source: IEEE Robotics & Automation Magazine

DOI: 10.1109/mra.2024.3487395

Authors: Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis

Institutions: Centre National de la Recherche Scientifique, Italian Institute of Technology, Centre Inria de l'Université de Lorraine

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: European Commission, Agence Nationale de la Recherche, HORIZON EUROPE Framework Programme

Awards: European ROBotics and AI Network, Multi-limbed Robots empowered by whole-body Loco-manipulation, G438881217