A Versatile Generalized Inverted Kinematics Implementation for Collaborative Working Humanoid Robots: The Stack of Tasks

N. Mansard, O. Stasse, P. Evrard, A. Kheddar,
*International Conference on Advanced Robotics (ICAR)*, 2009, HAL Publisher Bib

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.