A versatile Generalized Inverted Kinematics implementation for collaborative working humanoid robots: The Stack Of Tasks

This paper present a framework called the stack of tasks (SoT) implementing a generalized inverted kinematics. This particular implementation provides a run-time graph of computational nodes. It can be modified through a specifically targeted scripting language. It allows hybrid control scheme necessary for complex robot applications such as a HRP-2 humanoid robot in a collaborative working environment. We also show through a case study that this framework allows an efficient integration in nowadays middleware such as CORBA.