A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks
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.
| Origin | Files produced by the author(s) |
|---|
Loading...