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
Ease Robot Control
Robot Independent
About
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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
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OpenSoT can be used for Inverse Kinematics, Inverse Dynamics, Contact Force Optimization and similar problems
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The OpenSoT library as been used during the DARPA Robotics Challenge Finals by the WALK-MAN Team
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