ROSDevCon2018 Day2: Use OpenSoT with ROS to control humanoid robots
The Construct Robotics Institute 1:03:56
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ROS Developers Conference 2019 Registration is Now Open: http://rosdevcon.com
Speaker: Enrico Mingo | Post-Doc at Fondazione Istituto Italiano di Tecnologia
http://www.theconstructsim.com/ros-developers-online-conference-2018-rdc-worldwide/ros-developers-conference-enrico-mingo/
*Title and Abstract of the Speech
How to use the OpenSoT planning & Ctrl to control architectures for humanoid robots
In this talk you will learn how to:
- Solve Whole-Body Inverse Kinematics considering priorities
- Define Tasks and Constraints
- Use QPSolvers
- Get some hints on Inverse Dynamics and Operational Space/Force Control
Resources
- OpenSoT: A whole-body control library for the compliant humanoid robot COMAN, Alessio Rocchi ; Enrico Mingo Hoffman ; Darwin G. Caldwell ; Nikos G. Tsagarakis, Robotics and Automation (ICRA), 2015 IEEE International Conference on (https://ieeexplore.ieee.org/document/7140076/)
- Robot control for dummies: Insights and examples using OpenSoT, Enrico Mingo Hoffman ; Alessio Rocchi ; Arturo Laurenzi ; Nikos G. Tsagarakis, Humanoid Robotics (Humanoids), 2017 IEEE-RAS 17th International Conference on (https://ieeexplore.ieee.org/document/8246954/)
-OpenSoT git (https://github.com/robotology/OpenSoT)
#Robotics #Conference #ROSDevCon18
Speaker: Enrico Mingo | Post-Doc at Fondazione Istituto Italiano di Tecnologia
http://www.theconstructsim.com/ros-developers-online-conference-2018-rdc-worldwide/ros-developers-conference-enrico-mingo/
*Title and Abstract of the Speech
How to use the OpenSoT planning & Ctrl to control architectures for humanoid robots
In this talk you will learn how to:
- Solve Whole-Body Inverse Kinematics considering priorities
- Define Tasks and Constraints
- Use QPSolvers
- Get some hints on Inverse Dynamics and Operational Space/Force Control
Resources
- OpenSoT: A whole-body control library for the compliant humanoid robot COMAN, Alessio Rocchi ; Enrico Mingo Hoffman ; Darwin G. Caldwell ; Nikos G. Tsagarakis, Robotics and Automation (ICRA), 2015 IEEE International Conference on (https://ieeexplore.ieee.org/document/7140076/)
- Robot control for dummies: Insights and examples using OpenSoT, Enrico Mingo Hoffman ; Alessio Rocchi ; Arturo Laurenzi ; Nikos G. Tsagarakis, Humanoid Robotics (Humanoids), 2017 IEEE-RAS 17th International Conference on (https://ieeexplore.ieee.org/document/8246954/)
-OpenSoT git (https://github.com/robotology/OpenSoT)
#Robotics #Conference #ROSDevCon18
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