top of page

OpenSoT

Features

Easy to Use

Easy formulate different control problems, such as Inverse Kinematics, Inverse Dynamics and Contact Force Optimization, to control your robot

Interfaces

A particular Task is missing? Or you have a new solver to test? Use the common interfaces to write you own

Easy integrate your robot through URDF format

Model Independent

Do you have your model library? You can use it inside OpenSoT to compute the quantities required by Tasks and Constraints

Fast and RT Safe

C++ API for optimal performances and RT capabilities makes OpenSoT perfect for your robot

Solvers, Tasks and Constraints

Access a library Tasks and Constraints for common robotic control problems. Use the provided solvers to solve your control problems

Features
About

Ease Robot Control

Robot Independent

About

  • OpenSoT is a C++ library, developed at the Italian Institute of Technology by Enrico Mingo Hoffman and Alessio Rocchi, which aim is to simplify the deployment of complex robotic controllers

  • OpenSoT can be used for Inverse Kinematics, Inverse Dynamics, Contact Force Optimization and similar problems

 

​

​

Installation Instruction
To install the OpenSoT library, follow the instructions here.

Go to Install Information

bottom of page