https://github.com/advrhumanoids/opensot
An Open Source Task Solving library with Constraints
Science Score: 39.0%
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○Scientific vocabulary similarity
Low similarity (8.6%) to scientific vocabulary
Keywords from Contributors
Repository
An Open Source Task Solving library with Constraints
Basic Info
Statistics
- Stars: 103
- Watchers: 5
- Forks: 8
- Open Issues: 18
- Releases: 1
Metadata Files
README.md
OpenSoT 
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. Its development continued under the EU Projects CogIMon and CENTAURO. In 2018 the OpenSoT library has been recognized as an EU funded Deep Tech Innovation under the category Exploring. 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
- Visual Servoing, developed in collaboration with IDSIA - USI/SUPSI (Dr. Antonio Paolillo)
- Compliant Stabilizer, developed in collaboration with 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}
}
Owner
- Name: ADVR Humanoids
- Login: ADVRHumanoids
- Kind: organization
- Email: luca.muratore@iit.it
- Location: Istituto Italiano di Tecnologia
- Website: https://www.iit.it/lines/humanoids-human-centered-mechatronics
- Repositories: 206
- Profile: https://github.com/ADVRHumanoids
Humanoids & Human Centered Mechatronics, HHCM, IIT
GitHub Events
Total
- Create event: 5
- Release event: 1
- Issues event: 3
- Watch event: 29
- Issue comment event: 3
- Push event: 65
- Pull request event: 3
- Fork event: 2
Last Year
- Create event: 5
- Release event: 1
- Issues event: 3
- Watch event: 29
- Issue comment event: 3
- Push event: 65
- Pull request event: 3
- Fork event: 2
Committers
Last synced: about 1 year ago
Top Committers
| Name | Commits | |
|---|---|---|
| EnricoMingo | e****o@g****m | 1,602 |
| Alessio Rocchi | a****i@i****t | 549 |
| Arturo Laurenzi | a****i@i****t | 214 |
| Luca Muratore | l****e@i****t | 58 |
| Gennaro Raiola | g****a@g****m | 19 |
| Cheng Fang | c****g@i****t | 14 |
| Luca Rossini | l****i@i****t | 8 |
| matteoparigi | m****i@i****t | 6 |
| juan castano | j****o@i****t | 5 |
| Mirko | m****7@g****m | 4 |
| francesco.ruscelli | f****i@i****t | 4 |
| Yangwei You | y****u@f****m | 4 |
| Giuseppe Rigano | g****g@h****t | 3 |
| Chengxu Zhou | c****u@i****t | 3 |
| Pouya | o****a@g****m | 2 |
| iml-shared | d****d@g****m | 2 |
| Dimitrios Kanoulas | d****s@g****m | 1 |
| Daniele E. Domenichelli | d****i@i****t | 1 |
| Gennaro Raiola | g****a@i****t | 1 |
| OpenSoT | o****t@g****m | 1 |
| Sinan Barut | s****t@g****e | 1 |
Committer Domains (Top 20 + Academic)
Issues and Pull Requests
Last synced: 10 months ago
All Time
- Total issues: 4
- Total pull requests: 1
- Average time to close issues: about 10 years
- Average time to close pull requests: 1 minute
- Total issue authors: 2
- Total pull request authors: 1
- Average comments per issue: 0.75
- Average comments per pull request: 0.0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 1
- Pull requests: 1
- Average time to close issues: N/A
- Average time to close pull requests: 1 minute
- Issue authors: 1
- Pull request authors: 1
- Average comments per issue: 0.0
- Average comments per pull request: 0.0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- arocchi (4)
- Pouya-moh (1)
- cir2001 (1)
- EnricoMingo (1)
Pull Request Authors
- Volksfest (2)
- stephenadhi (1)
- EnricoMingo (1)