OpenSoT

OpenSoT is a library dedicated to hierarchical whole-body control of robots subject to linear constraints.

OpenSoT was initially developed under the EU Project WALK-MAN. Its development continued under the EU Projects CogIMon and CENTAURO. In 2018 the OpenSoT library has been recognized as an EU funded Deep Tech Innovation under the category Exploring.

Documentation can be found at https://advrhumanoids.github.io/OpenSoT/index.html

Try our Docker: https://github.com/hucebot/opensot_docker

Main 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{opensot:humanoids17,
  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 = {{IEEE-RAS} International Conference on Humanoid Robots, Humanoids},
  year = {2017}
}

@inproceedings{opensot:icra15,
  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={IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1093--1099},
  year={2015},
  organization={IEEE}
}