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 was 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}
}