https://github.com/advrhumanoids/opensot

An Open Source Task Solving library with Constraints
https://github.com/advrhumanoids/opensot

Last synced: 3 months ago
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An Open Source Task Solving library with Constraints

• Host: GitHub
• URL: https://github.com/advrhumanoids/opensot
• Owner: ADVRHumanoids
• License: gpl-3.0
• Created: 2014-10-03T09:33:45.000Z (over 11 years ago)
• Default Branch: 4.0-devel
• Last Pushed: 2025-11-04T14:50:28.000Z (7 months ago)
• Last Synced: 2025-12-21T08:11:32.083Z (6 months ago)
• Language: C++
• Homepage:
• Size: 16.4 MB
• Stars: 120
• Watchers: 5
• Forks: 9
• Open Issues: 16
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

          
OpenSoT  ![Travis badge](https://app.travis-ci.com/ADVRHumanoids/OpenSoT.svg?token=iQZzUD6rXcPydQAabf7T&branch=devel)

============

OpenSoT is a library dedicated to hierarchical whole-body control of robots subject to linear constraints. 

OpenSoT was initially developed under the EU Project [WALK-MAN](https://cordis.europa.eu/project/id/611832).

Its development continued under the EU Projects  [CogIMon](https://cordis.europa.eu/project/id/644727) and [CENTAURO](https://cordis.europa.eu/project/id/644839). 

In 2018 the OpenSoT library has been recognized as an [**EU funded Deep Tech Innovation** under the category Exploring](https://innovation-radar.ec.europa.eu/innovation/30633).

Currently, OpenSoT is a joint project between the Inria Centre at Université de Lorraine (LARSEN/HUCEBOT team) and the Istituto Italiano di Tecnologia (HHCM Lab).

Documentation can be found at https://advrhumanoids.github.io/OpenSoT/index.html

**Try our Docker: https://github.com/hucebot/opensot_docker**

Main Add-ons

------------

- [CartesI/O](https://github.com/ADVRHumanoids/CartesianInterface)

- [Visual Servoing](https://github.com/EnricoMingo/opensot_visual_servoing), developed in collaboration with IDSIA - USI/SUPSI (Dr. [Antonio Paolillo](https://github.com/TotoPaolillo))

- [Compliant Stabilizer](https://github.com/ADVRHumanoids/compliant_stabilizer), developed in collaboration with Dr. [Chengxu Zhou](https://eps.leeds.ac.uk/mechanical-engineering/staff/1720/dr-chengxu-zhou) 

How to cite this work:

======================

Please support ```OpenSoT``` development by referencing it in your works/publications/projects the following:

```

@ARTICLE{opensot:ram25,

  author={Hoffman, Enrico Mingo and Laurenzi, Arturo and Tsagarakis, Nikos G.},

  journal={IEEE Robotics & Automation Magazine}, 

  title={The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints}, 

  year={2025},

  volume={32},

  number={1},

  pages={24-34},

  doi={10.1109/MRA.2024.3487395}}

```

```

@inproceedings{opensot:humanoids17,

  title = {Robot Control for Dummies: Insights and Examples using OpenSoT},

  author = {Mingo Hoffman, Enrico and Rocchi, Alessio and Laurenzi, Arturo and Tsagarakis, Nikos G.},

  pages     = {736-741},

  booktitle = {{IEEE-RAS} International Conference on Humanoid Robots (Humanoids)},

  year = {2017},

  doi={10.1109/HUMANOIDS.2017.8246954}

}

```

```

@inproceedings{opensot:icra15,

  title={OpenSoT: a Whole-Body Control Library for the Compliant Humanoid Robot COMAN},

  author={Rocchi, Alessio and Hoffman, Enrico Mingo and Caldwell, Darwin G. and Tsagarakis, Nikos G.},

  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},

  pages={1093--1099},

  year={2015},

  organization={IEEE},

  doi={10.1109/ICRA.2015.7140076}

}

```