5 accepted papers
Software frameworks like the Stack of Tasks (SoT), the Stanford Whole-Body Control (WBC) library, or the instantaneous Task Specification using Constraints (iTaSC) have enabled robots to perform advanced, contact-oriented manipulation tasks. jgeom constr and eTaSL are among the few formal, computer-…
Software frameworks like the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Stack of Tasks</i> (SoT), the Stanford <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Whole-Body Control</i> (WBC) library
Is mobile robot navigation a solved problem? We asked this question to 14 professional robot software engineers who work with navigation stacks of mobile, wheeled robots on a daily basis. They unanimously report that it remains challenging to ensure the performance of their mobile robots. We find th…
The Unified Robot Description Format (URDF) and, to a lesser extent, the COLLAborative Design Activity (COLLADA) format are two of the most popular domain-specific languages (DSLs) to represent kinematic chains in robotics with support in many tools including Gazebo, MoveIt!, KDL or IKFast. In this…
We investigate two major limiting factors in the design and implementation of modern dynamics solvers that interfere with their full utilization in versatile, manipulation-driven robotic software architectures. The first limitation originates from the design of those solvers which aims at computatio…