A versatile generalized inverted kinematics implementation for collaborative working humanoid robots: the Stack of Tasks
Résumé
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.
Domaines
Robotique [cs.RO]| Origine | Fichiers produits par l'(les) auteur(s) |
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