假人机器人控制:使用OpenSoT的见解和示例

E. Hoffman, A. Rocchi, Arturo Laurenzi, N. Tsagarakis
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引用次数: 47

摘要

在本文中,我们介绍了OpenSoT,一个开源的,最近开发的软件库,可用于解决机器人相关的控制问题,以灵活和简单的方式。OpenSoT包括高级接口的最先进的算法,运动学/动态建模,二次规划优化,成本函数和约束规范。OpenSoT是用c++实现的,允许快速原型化固定或浮动基础控制器,高度冗余的机器人,如(但不限于)机械手和类人机器人。我们将从开发人员和用户的角度讨论OpenSoT的使用,而不讨论该工具的实现细节。我们通过两个例子演示了如何使用该软件:通过简单的逆运动学方案控制冗余人形机器人和接触力优化。
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Robot control for dummies: Insights and examples using OpenSoT
In this paper we present OpenSoT, an open-source, recently developed software library, that can be used to solve robotics related control problems in a flexible and easy way. OpenSoT includes high-level interfaces to state-of-the-art algorithms for kinematic/dynamic modelling, quadratic programming optimization, cost functions and constraints specification. OpenSoT is implemented in C++ and permits rapid prototyping of controllers for fixed or floating base, highly redundant robots such as (but not limited to) manipulators and humanoids. We discuss the use of OpenSoT from the perspective of the developer and the user, leaving out details on the implementation of the tool. We demonstrate how the software can be used with two examples: control of a redundant humanoid robot through simple inverse kinematics schemes and contact forces optimization.
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