OpenSoT MultiDoF (v3.0)

An Open Source Task Solving library with Constraints

Change Log (short):

• Linear Tasks
• iHQP/LP solver
• Inverse Dynamics & Operational Space
• Contact Force Optimization
• Added eiQuadProg
• Added GLPK

Available Solvers:

• iHQP/LP: implemented using qpOASES, OSQP, eiQuadProg, GLPK
• eHQP: implemented using Eigen-based Damped Pseudo Inverse
• nHQP: Null-Space Hierarchical QP, implemented using Eigen SVD

The default iHQP solver is based on qpOASES and eiQuadProg.

Introduction

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/). Currently, 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 at https://advrhumanoids.github.io/OpenSoT/index.html

Some videos from OpenSoT YouTube channel (https://www.youtube.com/channel/UCkkZXunCN6eJwww1CeK7DrA):

Self Collision Avoidance

WALK-MAN Whole-Body, floating-base, walking

Add-ons

• CartesI/O
• Visual Servoing, developed in collaboration with IDSIA - USI/SUPSI (Dr. Antonio Paolillo)
• Compliant Stabilizer, developed in collaboration with Dr. Chengxu Zhou

How to cite this work:

Please support OpenSoT development by referencing it in your works/publications/projects the following:

@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}
}