Stack of Tasks

<!doctype html> <html lang="en"> <head> <meta charset="utf-8"> <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no"> <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap@4.6.1/dist/css/bootstrap.min.css" integrity="sha384-zCbKRCUGaJDkqS1kPbPd7TveP5iyJE0EjAuZQTgFLD2ylzuqKfdKlfG/eSrtxUkn" crossorigin="anonymous"> <title>Stack of Tasks</title> <link rel="stylesheet" href="/assets/css/main.css"> <link rel="stylesheet" href="/assets/css/rouge-github.css"> <link rel="shortcut icon" href="/assets/logos/logo-medium-white.png"> </head> <body> <nav class="navbar navbar-expand-lg navbar-dark bg-bleu py-0"> <div class="container"> <a href="https://www.laas.fr/public/"> <img alt="LAAS" src="/assets/logos/LAAS-2016.jpg" height="56" class="mr-3" /> </a> <a class="navbar-brand" href="/">Stack of Tasks</a> <button class="navbar-toggler" type="button" data-toggle="collapse" data-target="#navbarSupportedContent" aria-controls="navbarSupportedContent" aria-expanded="false" aria-label="Toggle navigation"> <span class="navbar-toggler-icon"></span> </button> <div class="collapse navbar-collapse" id="navbarSupportedContent"> <ul class="navbar-nav mr-auto"> <li class="nav-item dropdown "> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdowngetting-started" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> <i class="fas fa-graduation-cap"></i> Getting Started </a> <div class="dropdown-menu" aria-labelledby="navbarDropdowngetting-started"> <div class="dropdown-divider"></div> <a class="dropdown-item" href="https://stack-of-tasks.github.io/sot-doc/doxygen/HEAD/Installation_Generalities.html">Download & Install</a> </div> </li> <li class="nav-item dropdown "> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdowndocumentation" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> <i class="fas fa-book"></i> Documentation </a> <div class="dropdown-menu" aria-labelledby="navbarDropdowndocumentation"> <a class="dropdown-item " href="/documentation/b_robots.html">Robots</a> <a class="dropdown-item " href="/documentation/c_showcase.html">Showcase</a> <div class="dropdown-divider"></div> <a class="dropdown-item" href="https://stack-of-tasks.github.io/sot-doc/doxygen/HEAD/status_robotpkg_binaries.html">API Documentation</a> <a class="dropdown-item" href="https://stack-of-tasks.github.io/sot-doc/doxygen/HEAD/page_overview.html">Introduction</a> </div> </li> <li class="nav-item dropdown "> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdowntutorials" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> <i class="fas fa-play"></i> Tutorials </a> <div class="dropdown-menu" aria-labelledby="navbarDropdowntutorials"> <div class="dropdown-divider"></div> <a class="dropdown-item" href="https://stack-of-tasks.github.io/sot-doc/doxygen/HEAD/tutorial_dyn_graph_101.html">Dynamic-graph 101</a> <a class="dropdown-item" href="https://stack-of-tasks.github.io/sot-doc/doxygen/HEAD/tutorial_whole_body_motion.html">Whole body motion</a> <a class="dropdown-item" href="https://stack-of-tasks.github.io/sot-doc/doxygen/HEAD/tutorial_ros_bridge.html">Bridge with ROS</a> </div> </li> <li class="nav-item dropdown "> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdowndevelopment" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> <i class="fas fa-wrench"></i> Development </a> <div class="dropdown-menu" aria-labelledby="navbarDropdowndevelopment"> <a class="dropdown-item " href="/development.html">Development dashboard</a> <div class="dropdown-divider"></div> <a class="dropdown-item" href="http://www.github.com/stack-of-tasks/">View on Github</a> </div> </li> <li class="nav-item dropdown "> <a class="nav-link dropdown-toggle" href="#" id="navbarDropdownsupport" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false"> <i class="fas fa-question-circle"></i> Support </a> <div class="dropdown-menu" aria-labelledby="navbarDropdownsupport"> <a class="dropdown-item " href="/support.html">Support</a> </div> </li> </ul> </div> </div> </nav> <div role="main" class="container mt-4"> <div class="jumbotron"> <a href="http://projects.laas.fr/gepetto"> <img src="/assets/logos/gepetto-high-white-203x200.png" alt="Gepetto Logo" width="203" height="200" class="float-left"/> </a> <h1 class="display-4">Stack of Tasks</h1> <hr class="my-4"> <p class="lead">Software for Controlling Redundant Robots</p> <p class="lead"> <a class="btn btn-primary btn-lg" href="/download.html" role="button">Get started now 禄</a> </p> </div> <div class="container marketing"> <div class="row featurette" id="acknowledgement"> <div class="col-md-5 text-center"> <div class="row"> <div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;"> <a href="http://www.memmo-project.eu/"> <img title="Projet Memmo" id="projetmemmo_logo" src="/assets/logo_memmo.png" alt="Logo projet Memmo" style="height: 70px;"/> </a> </div> <div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;"> <img title="ROB4FAM" id="rob4fam_logo" src="/assets/logo_rob4fam.png" alt="Logo ROB4FAM" style="height: 55px;"/> </div> <div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;"> <a href="http://www.euroc-project.eu"> <img title="EUROC project" id="euroc_logo" src="/assets/logo_euroc.png" alt="Logo EUROC project" style="height: 70px;"/> </a> </div> <div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;"> <a href="http://orb.iwr.uni-heidelberg.de/koroibot/"> <img title="Koroibot" id="koroibot_logo" src="/assets/logo_koroibot.jpg" alt="EU Project: Koroibot" style="height: 110px;"/> </a> </div> </div> <div class="row"> <div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;"> <a href="http://erc.europa.eu/projects-and-results/erc-funded-projects/actanthrope"> <img title="ERC Actanthrope" id="ercactanthrope_logo" src="/assets/logo_erc.jpg" alt="Logo ERC" style="height: 110px;"/> </a> </div> <div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;"> <a href="http://projetromeo.com"> <img title="Projet ROMEO 2" id="projetromeo_logo" src="/assets/logo_romeo.jpg" alt="Logo projet ROMEO" style="height: 70px;"/> </a> </div> </div> <div class="row"> </div> </div> <div class="col-md-5"> <h2 class="featurette-heading">Acknowledgement</h2>  <p> This work has been partially supported by: <ul> <li>ROB4FAM</li> <li>H2020 Memmo</li> <li>FP7 Koroibot</li> <li>Euroc project</li> <li>ERC Actanthrope</li> <li>PSPC Romeo 2</li> <li>ANR Entracte</li> <li>RoboCom++</li> </ul> </p> </div> <div class="col-md-2 text-center"> <div class="row"> <a href="https://ec.europa.eu/research/fp7/index_en.cfm"> <img title="Framework Program 7" id="FP7_logo" src="/assets/logo_fp7.jpg" alt="Framework Program 7" style="height: 110px;"/> </a> </div> <div class="row"> <a href="http://www.agence-nationale-recherche.fr"> <img title="ANR project" id="anr_logo" src="/assets/logo_anr.gif" alt="Logo ANR project" style="height: 70px;"/> </a> </div> <div class="row"> <a href="http://robocomplusplus.eu/"> <img title="RoboCom++" id="robocom++_logo" src="/assets/logo_robocom_def_png.png" alt="RoboCom++" style="height: 110px;"/> </a> </div> </div> </div> <hr class="featurette-divider"> </div> <div style="padding: 2em"></div> <div id="carousel" class="carousel slide" data-ride="carousel"> <ol class="carousel-indicators"> <li data-target="#carousel" data-slide-to="0" class="active"></li> <li data-target="#carousel" data-slide-to="1" ></li> <li data-target="#carousel" data-slide-to="2" ></li> <li data-target="#carousel" data-slide-to="3" ></li> <li data-target="#carousel" data-slide-to="4" ></li> <li data-target="#carousel" data-slide-to="5" ></li> <li data-target="#carousel" data-slide-to="6" ></li> <li data-target="#carousel" data-slide-to="7" ></li> <li data-target="#carousel" data-slide-to="8" ></li> <li data-target="#carousel" data-slide-to="9" ></li> <li data-target="#carousel" data-slide-to="10" ></li> <li data-target="#carousel" data-slide-to="11" ></li> <li data-target="#carousel" data-slide-to="12" ></li> </ol> <div class="carousel-inner bg-bleu"> <div class="carousel-item active"> <img class="d-block mx-auto" src="/assets/showcase/demo_robotatcwe.png" alt="stasse-robot-13" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Robot@CWE</h5> <p>This is the Final demonstrator of the FP7 IP Robot@CWE project.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_ballerose.png" alt="mansard-icra-07" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Grasping while walking</h5> <p>Grasping a ball with visual guidance while walking. First demonstration with the presented framework during the end of Nicolas Mansard's PhD</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_frigo.png" alt="keith-iros-09" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Open the fridge</h5> <p>The robot opens a fridge to grasp a can. The motion results from an optimized task sequence. The motion was implemented by F. Keith during his PhD thesis.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_switch.png" alt="bussy-iros-12" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Haptic communication</h5> <p>Study about the haptic (non verbal) communication between two human partners during a task implying physical collaboration. The resulting strategies are applied to drive the humanoid robot decisions. The motion was programmed by A. Bussy during his PhD thesis.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_bci.png" alt="gergondet-roma-12" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Brain computer interface</h5> <p>The robot is driven by symbolic orders that are selected by a brain-computer interface. The orders are converted into tasks that are applied by the robot. The demonstration was developped by P. Gergondet during his PhD thesis. It is one of the main demonstrators of the FP7 IP VERE project.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_torea_robot.png" alt="Foissotte:2010" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Active vision</h5> <p>The robot autonomously selects the most relevant poses to improve the 3D reconstruction of an ob ject. The built model is then used for the "Treasure hunting" project, led by O. Stasse [Saidi 07]. The active-search movements have been develop ed by T. Foissote during his PhD thesis.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_joystick.png" alt="perrin-icra-10" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Joystick-controlled walk</h5> <p>First application of the "joystick-drive" walking pattern generator. The COM tra jectory is the closest to the velo city input given by the joystick [Herdt 10]. The footprints are computed during the COM trajectory optimization and bounded to stay inside a security zone computed during a learning process [Stasse 09].</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_dune.png" alt="dune10" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Visual servoing of the walk</h5> <p>Similarly to the previous item, the robot COM and footprints are computed by model-predictive control. This time, the robot velocity is input by the camera feedback, following a visual-servoing scheme.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_stpbv.png" alt="stasse-icra-08" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Obstacle avoidance</h5> <p>The obstacles are locally taken into account in the control scheme. The task used to prevent the collision is based on a smooth body envelope [Escande 07].</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_skin.png" alt="mittendorfer-iros-13" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Skin for humanoid robots</h5> <p>Several tactile and proximetric sensor cells are attached to the HRP-2 robot cover. They are used to guide the robot and teach by showing how to grasp various classes of ob ject using whole-body grasps.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_mexique.png" alt="hayet-ijhr-12" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Pursuit-evasion planning</h5> <p>A navigation trajectory is computed while taking into account the robot visibility constraints. The plan is then executed using the walking pattern generator and the proposed whole-body resolution scheme.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_clermont.png" alt="moughlbay-jnrh-10" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Bi-manual visual servoing</h5> <p>The head and both arms are controlled following a 2D visual feedback.</p> </div> </div> <div class="carousel-item "> <img class="d-block mx-auto" src="/assets/showcase/demo_fastplan.png" alt="baudouin-humanoids-11" height="500px"> <div class="carousel-caption d-none d-md-block"> <h5>Fast footstep replanning</h5> <p>Using fast feasibility tests, the footsteps leading to a goal position are recomputed on the light to track modifications of the environment. The footstep plan is then executed by inverse kinematics</p> </div> </div> </div> <a class="carousel-control-prev" href="#carousel" role="button" data-slide="prev"> <span class="carousel-control-prev-icon" aria-hidden="true"></span> <span class="sr-only">Previous</span> </a> <a class="carousel-control-next" href="#carousel" role="button" data-slide="next"> <span class="carousel-control-next-icon" aria-hidden="true"></span> <span class="sr-only">Next</span> </a> </div> <div style="padding: 2em"></div> <div class="container marketing"> <hr class="featurette-divider"> <div class="row featurette"> <div class="col-md-7"> <h2 class="featurette-heading">Real time Motion Control in C++</h2> <p class="lead"> SoT is a C++ Software Developement Kit implementing a control architecture for redundant robots and more specifically for humanoid robots. The framework is flexible enough to implement hierarchical control and weighted control. Robots can be loaded from URDF model. The rigid body dynamics is provided through <a href="https://github.com/stack-of-tasks/pinocchio">pinocchio</a>. It is a collection of software packages handled by cmake and pkg-config. </p> </div> <div class="col-md-5">   </div> </div> <hr class="featurette-divider"> <div class="row featurette"> <div class="col-md-5"> <img src="/assets/python-logo.png" alt="Python logo" style="max-width: 95%;" /> </div> <div class="col-md-7"> <h2 class="featurette-heading">Python interface for quick prototyping of problems</h2> <p class="lead"> Python scripting is embedded in SoT. A few lines of Python code allows users to <a href="/tutorials.html">solve inverse kinematics problems</a> or <a href="https://github.com/stack-of-tasks/sot-torque-control">inverse dynamics problems</a>. It can be interfaced with various middlewares. The current most supported is <a href="http://wiki.ros.org/">ROS</a>. </p> </div> </div> <hr class="featurette-divider"> <div class="row featurette"> <div class="col-md-7"> <h2 class="featurette-heading">Walking Pattern Generator</h2> <p class="lead"> A walking pattern generator library is provided to generate Center-Of-Pressure, Center-Of-Mass and feet trajectories which are balanced. </p> </div> <div class="col-md-5">    </div> </div>  </div> <hr class="featurette-divider">   </div> <div style="padding: 2em"></div> <footer class="footer text-center"> <div class="container"> <a href="http://projects.cnrs.fr/gepetto/" class="float-left"> <img alt="Gepetto" src="/assets/logos/logo-mono-black.png" height="30"/> </a> <span class="text-muted">Gepetto Research Group - Movement of Anthropomorphic Systems</span> <a href="http://www.cnrs.fr/" class="float-right"> <img alt="CNRS" src="/assets/logos/cnrs-blanc-filaire-30x30.png" width="30" height="30"/> </a> </div> </footer> <script src="https://code.jquery.com/jquery-3.2.1.slim.min.js" integrity="sha384-KJ3o2DKtIkvYIK3UENzmM7KCkRr/rE9/Qpg6aAZGJwFDMVNA/GpGFF93hXpG5KkN" crossorigin="anonymous"></script> <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.12.9/umd/popper.min.js" integrity="sha384-ApNbgh9B+Y1QKtv3Rn7W3mgPxhU9K/ScQsAP7hUibX39j7fakFPskvXusvfa0b4Q" crossorigin="anonymous"></script> <script src="https://maxcdn.bootstrapcdn.com/bootstrap/4.0.0/js/bootstrap.min.js" integrity="sha384-JZR6Spejh4U02d8jOt6vLEHfe/JQGiRRSQQxSfFWpi1MquVdAyjUar5+76PVCmYl" crossorigin="anonymous"></script> <script async src="https://use.fontawesome.com/releases/v5.0.4/js/all.js" crossorigin="anonymous"></script> <script async src='https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML'></script> <script type="text/x-mathjax-config"> MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\$','\$']]}}); </script> </body> </html>

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Stack of Tasks