Stack of Tasks
Software for Controlling Redundant Robots
This work has been partially supported by:
- FP7 Koroibot
- Euroc project
- ERC Actanthrope
- PSPC Romeo 2
- ANR Entracte
Real time Motion Control in C++
SoT is a C++ Software Developement Kit implementing a control architecture for redundant robots and more specifically for humanoid robots. The framework is flexible enough to implement hierarchical control and weighted control. Robots can be loaded from URDF model. The rigid body dynamics is provided through pinocchio. It is a collection of software packages handled by cmake and pkg-config.
Walking Pattern Generator
A walking pattern generator library is provided to generate Center-Of-Pressure, Center-Of-Mass and feet trajectories which are balanced.