New version of OpenSoT based mainly on Eigen3.0. Most of the code has been ported to Eigen to be real time safe. The Lite version represent a working progress in which we want to try to achieve real time performances where is possible.
An Open Source Task Solving library with Constraints
- iHQP: implemented using qpOASES (https://projects.coin-or.org/qpOASES) or osqp (http://osqp.readthedocs.io/en/latest/)
- eHQP: implemented using Eigen-based Damped Pseudo Inverse
The default iHQP solver is based on qpOASES.
OpenSoT is a library dedicated to hierarchical whole-body control of robots subject to constraints such as joint limits, joint velocities, cartesian constraints... The main idea behind OpenSoT is to decouple Task and Constraints description from the Solver used to compute the robot commands and the Type of Control available on the robot to perform them.
OpenSoT was initially developed under the EU Project WALK-MAN (http://www.walk-man.eu/). At the moment the project is developed under the EU Projects CogIMon (https://cogimon.eu/) and CENTAURO (http://www.centauro-project.eu/).
Its homepage resides in http://github.com/robotology-playground/OpenSoT You can also find a wiki there.
An online version of this documentation can be obtained in http://opensot.github.io
Some videos from OpenSoT channel in YouTube:
WALK-MAN Whole-Body, floating-base, walking
Whole-body compliant control of iCub with OpenSoT
To Install OpenSoT, the recommended way is to use the OpenSoT-superbuild https://github.com/EnricoMingo/OpenSoT-superbuild
Enrico Mingo Hoffman
Arturo Laurenzi
Please support OpenSoT development by referencing it in your works/publications/projects with:
@inproceedings{OpenSot17,
title = {Robot Control for Dummies: Insights and Examples using OpenSoT},
author = {Mingo Hoffman, Enrico and Rocchi, Alessio and Laurenzi, Arturo and Tsagarakis, Nikos G.},
pages = {736-741},
booktitle = {17th {IEEE-RAS} International Conference on Humanoid Robots, Humanoids},
year = {2017}
}
@inproceedings{AlessioEnrico2015,
title={OpenSoT: a Whole-Body Control Library for the Compliant Humanoid Robot COMAN},
author={Rocchi, Alessio and Hoffman, Enrico Mingo and Caldwell, Darwin G. and Tsagarakis, Nikos G.},
booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
pages={1093--1099},
year={2015},
organization={IEEE}
}
@inproceedings{Mingo16,
title={Robot Dynamics Constraint for Inverse Kinematics},
author={Mingo Hoffman, Enrico and Rocchi, Alessio and Tsagarakis, Nikos G. and Caldwell, Darwin G.},
booktitle={International Conference on Advances in Robot Kinematics, ARK 2016},
pages={280--286},
year={2016},
organization={IFToMM}
}
@inproceedings{Fang15,
added-at = {2016-01-06T00:00:00.000+0100},
author = {Fang, Cheng and Rocchi, Alessio and Hoffman, Enrico Mingo and Tsagarakis, Nikos G. and Caldwell, Darwin G.},
biburl = {http://www.bibsonomy.org/bibtex/2fed92aad7fab0089cd092a76f2d6e819/dblp},
booktitle = {Humanoids},
ee = {http://dx.doi.org/10.1109/HUMANOIDS.2015.7363500},
interhash = {a4dd115293f874acd3b67c9781b45a40},
intrahash = {fed92aad7fab0089cd092a76f2d6e819},
isbn = {978-1-4799-6885-5},
keywords = {dblp},
pages = {1060-1066},
publisher = {IEEE},
timestamp = {2016-01-07T11:44:55.000+0100},
title = {Efficient self-collision avoidance based on focus of interest for humanoid robots.},
year = 2015
}