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Conference Papers Year : 2009

A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks

Olivier Stasse
Abderrahmane Kheddar

Abstract

This paper present a framework called the stack of tasks (SoT) implementing a generalized inverted kinematics. This particular implementation provides a run-time graph of computational nodes. It can be modified through a specifically targeted scripting language. It allows hybrid control scheme necessary for complex robot applications such as a HRP-2 humanoid robot in a collaborative working environment. We also show through a case study that this framework allows an efficient integration in nowadays middleware such as CORBA.
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Dates and versions

lirmm-00796736 , version 1 (04-03-2013)

Identifiers

  • HAL Id : lirmm-00796736 , version 1

Cite

Nicolas Mansard, Olivier Stasse, Paul Evrard, Abderrahmane Kheddar. A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks. ICAR 2009 - 14th International Conference on Advanced Robotics, Jun 2009, Munich, Germany. pp.1-6. ⟨lirmm-00796736⟩
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