The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints
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.
Authors
- Arturo Laurenzi (ORCID: https://orcid.org/0000-0002-9065-1266)
- Nikos G. Tsagarakis (ORCID: https://orcid.org/0000-0002-9877-8237)
- Enrico Mingo Hoffman (ORCID: https://orcid.org/0000-0003-2063-7490)
Institutions
- Centre National de la Recherche Scientifique (FR)
- Italian Institute of Technology (IT)
- Centre Inria de l'Université de Lorraine (FR)
Publication Details
- Journal
- IEEE Robotics & Automation Magazine
- Published
- 2024-11-27
- DOI
- https://doi.org/10.1109/mra.2024.3487395
- Primary Topic
- Human-Automation Interaction and Safety
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- European Commission
- Agence Nationale de la Recherche
- HORIZON EUROPE Framework Programme