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