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

Nicolas Mansard 1 Olivier Stasse 2 Paul Evrard 3 Abderrahmane Kheddar 3
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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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Nicolas Mansard, Olivier Stasse, Paul Evrard, Abderrahmane Kheddar. A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks. ICAR'09: International Conference on Advanced Robotics, Jun 2009, Munich, Germany. pp.1-6. ⟨lirmm-00796736⟩

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