Commit 5ea5fa4b authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Update stack of tasks frontpage.

parent ba44633b
- name: demo_robotatcwe
id: 2
image: demo_robotatcwe.pdf.png
title: Robot@CWE
lab: JRL-Japan
......@@ -8,6 +9,7 @@
youtube_id: hRf0XJaIlmY
- name: demo_ballerose
id: 3
image: demo_ballerose.pdf.png
title: Grasping while walking
lab: JRL-Japan
......@@ -16,6 +18,7 @@
url: http://www.irisa.fr/lagadic/publi/publi/Mansard07a-eng.html
- name: demo_frigo
id: 10
image: demo_frigo.pdf.png
title: Open the fridge
lab: JRL-Japan
......@@ -24,6 +27,7 @@
url: http://hal-lirmm.ccsd.cnrs.fr/lirmm-00733383
- name: demo_switch
id: 4
image: demo_switch.pdf.png
title: Haptic communication
lab: JRL-Japan
......@@ -34,6 +38,7 @@
url: http://hal-lirmm.ccsd.cnrs.fr/lirmm-00773403
- name: demo_bci
id: 6
image: demo_bci.pdf.png
title: Brain computer interface
lab: JRL-Japan
......@@ -44,6 +49,7 @@
url: http://hal-lirmm.ccsd.cnrs.fr/lirmm-00781528
- name: demo_torea_robot
id: 7
image: demo_torea_robot.pdf.png
title: Active vision
lab: JRL-Japan
......@@ -51,6 +57,7 @@
ref: Foissotte:2010
- name: demo_joystick
id: 8
image: demo_joystick.pdf.png
title: Joystick-controlled walk
lab:
......@@ -63,6 +70,7 @@
- name: demo_dune
id: 9
image: demo_dune.pdf.png
title: Visual servoing of the walk
lab: JRL-Japan
......@@ -79,6 +87,7 @@
url: http://homepages.laas.fr/ostasse/os_icra_2008.pdf
- name: demo_skin
id: 10
image: demo_skin.pdf.png
title: Skin for humanoid robots
lab:
......@@ -91,6 +100,7 @@
file_url: http://hal.archives-ouvertes.fr/docs/00/80/50/79/VIDEO/2013_A_General_Tactile_Approach_for_Grasping_Unknown_Objects_with_a_Humanoid_Robot.mp4
- name: demo_mexique
id: 11
image: demo_mexique.pdf.png
title: Pursuit-evasion planning
lab:
......@@ -101,6 +111,7 @@
url: https://staff.aist.go.jp/e.yoshida/papers/hayet-ijhr12.pdf
- name: demo_clermont
id: 12
image: demo_clermont.pdf.png
title: Bi-manual visual servoing
lab:
......@@ -110,6 +121,7 @@
ref: moughlbay-jnrh-10
- name: demo_fastplan
id: 13
image: demo_fastplan.pdf.png
title: Fast footstep replanning
lab:
......@@ -121,111 +133,123 @@
video:
youtube_id: H6cbwkNTafw
- name: demo_kidroom
image: demo_kidroom.pdf.png
title: Careful steps through a kidroom
lab: LAAS
description: A footstep plan is computed into a very constrained environment. The flying-foot position is servoed. A programming language during the execution based on visual feedback. The demonstration was realized by T. Moulard during his PhD thesis.
ref: moulard-biorob-12
url: http://hal.archives-ouvertes.fr/hal-00601291
video:
youtube_id: cUZ0nNiPs70
- name: demo_novela
image: demo_novela.pdf.png
title: Yoga dance
lab: LAAS
description: The robot motion is computed from motion-capture dynamic motion of a human dancer. Most of the work has been done by O. Ramos during his Master thesis.
ref: ramos-ram-sub13
- name: demo_chair
image: demo_chair.pdf.png
title: Stting into an armchair
lab: LAAS
description: The motion illustrates multi-contact capabilities of the generation algorithm. It is executed in op en loop by the robot. This motion was developed by L. Saab during her PhD thesis.
ref: saab-tro-12
url: http://hal-lirmm.ccsd.cnrs.fr/lirmm-00831097
- name: demo_hak
image: demo_hak.pdf.png
title: Motion recognition
lab:
- LAAS
- JRL-Japan
description: The task-function approach is used to describe an observed motion.
ref: hak-tsmc-12
url: http://hal.archives-ouvertes.fr/hal-00697272
- name: demo_duong
image: demo_duong.pdf.png
title: Visual footstep planning and control
lab: LAAS
description:
ref: duong-humanoid-12
url: hal.inria.fr/hal-00727600
- name: demo_smallstep_cdf
image: demo_smallstep_cdf.pdf.png
title: Small-step controllability
lab: LAAS
description: The framework is used to execute a footstep plan computed by homotopy [Kanoun 11b]. The footstep trajectory is computed at the medium rate of 3Hz. The footsteps and robot posture is then sent to the control and performed in real time. Both algorithm loops are closed on the camera feedback. This motion was developed by D. Dang during his PhD thesis.
ref: dalibard-humanoid-11
url: hal.inria.fr/hal-00602384
- name: demo_slam
image: demo_slam.pdf.png
title: SLAM based robot control
lab: LAAS
description: The robot localizes itself using a visual sparse map. The localization error is back fed to the control that corrects the position with respect to an input plan. The robot finally grasps a ball after several steps. The demonstration was developed by T. Moulard during his PhD thesis.
ref: moulard-icra-12sub
url: http://hal.inria.fr/hal-00733666
video:
file_url:http://hal.archives-ouvertes.fr/docs/00/73/36/66/VIDEO/13icra.mp4
- name: demo_dyninv
image: demo_dyninv.pdf.png
title: Climbing a ladder
lab: LAAS
description: Application of the multi-contact inverse-dynamics motion generation to the humanoid robot Romeo model.
ref: ramos-humanoid-11
url: hal.archives-ouvertes.fr/hal-00600959
video:
youtube_id: WkBU20Ut1Yo
- name: demo_stab
image: demo_stab.pdf.png
title: Balance stabilization
description: Developments toward outdoor walking, by F. Lamiraux.
lab:
- LAAS
- name: demo_theremin
image: demo_theremin.pdf.png
title: Audio-based control
lab:
- LAAS
- SIPG Okuno Lab
description: Developments for the standing HRP-2 of an audio-based control, originally developed for a sitting HRP-2. The hand position is servoed to adjust the sound of the Theremin music instrument. The tempo is then adjusted by a conductor using the motion capture to track the baton.
ref: mizumoto-iros-09
- name: demoros
image: demoros.pdf.png
title: ROS bridge
lab: LAAS
description: The framework is bridged to the middleware ROS. The middleware is used to import data coming from other processes or other computers (vision data, user commands, etc). The PR-2 model is included in the framework.
ref: moulard-ros-12
- name: demo_romeo
image: demo_romeo.pdf.png
title: Navigation planning and execution
lab: INRIA
description: The robot Romeo navigates into a virtual home environment and finally performs a manipulation task. Final demonstrator of WP7 of the FUI Romeo project
ref: keith-wpromeo-11
video:
youtube_id: eiQctKGUPw4
## - name: demo_kidroom
## id: 14
## image: demo_kidroom.pdf.png
## title: Careful steps through a kidroom
## lab: LAAS
## description: A footstep plan is computed into a very constrained environment. The flying-foot position is servoed. A programming language during the execution based on visual feedback. The demonstration was realized by T. Moulard during his PhD thesis.
## ref: moulard-biorob-12
## url: http://hal.archives-ouvertes.fr/hal-00601291
## video:
## youtube_id: cUZ0nNiPs70
## - name: demo_novela
## id: 15
## image: demo_novela.pdf.png
## title: Yoga dance
## lab: LAAS
## description: The robot motion is computed from motion-capture dynamic motion of a human dancer. Most of the work has been done by O. Ramos during his Master thesis.
## ref: ramos-ram-sub13
## - name: demo_chair
## id: 16
## image: demo_chair.pdf.png
## title: Stting into an armchair
## lab: LAAS
## description: The motion illustrates multi-contact capabilities of the generation algorithm. It is executed in op en loop by the robot. This motion was developed by L. Saab during her PhD thesis.
## ref: saab-tro-12
## url: http://hal-lirmm.ccsd.cnrs.fr/lirmm-00831097
## - name: demo_hak
## id: 17
## image: demo_hak.pdf.png
## title: Motion recognition
## lab:
## - LAAS
## - JRL-Japan
## description: The task-function approach is used to describe an observed motion.
## ref: hak-tsmc-12
## url: http://hal.archives-ouvertes.fr/hal-00697272
## - name: demo_duong
## id: 18
## image: demo_duong.pdf.png
## title: Visual footstep planning and control
## lab: LAAS
## description:
## ref: duong-humanoid-12
## url: hal.inria.fr/hal-00727600
## - name: demo_smallstep_cdf
## id: 19
## image: demo_smallstep_cdf.pdf.png
## title: Small-step controllability
## lab: LAAS
## description: The framework is used to execute a footstep plan computed by homotopy [Kanoun 11b]. The footstep trajectory is computed at the medium rate of 3Hz. The footsteps and robot posture is then sent to the control and performed in real time. Both algorithm loops are closed on the camera feedback. This motion was developed by D. Dang during his PhD thesis.
## ref: dalibard-humanoid-11
## url: hal.inria.fr/hal-00602384
## - name: demo_slam
## id: 20
## image: demo_slam.pdf.png
## title: SLAM based robot control
## lab: LAAS
## description: The robot localizes itself using a visual sparse map. The localization error is back fed to the control that corrects the position with respect to an input plan. The robot finally grasps a ball after several steps. The demonstration was developed by T. Moulard during his PhD thesis.
## ref: moulard-icra-12sub
## url: http://hal.inria.fr/hal-00733666
## video:
## file_url:http://hal.archives-ouvertes.fr/docs/00/73/36/66/VIDEO/13icra.mp4
## - name: demo_dyninv
## id: 21
## image: demo_dyninv.pdf.png
## title: Climbing a ladder
## lab: LAAS
## description: Application of the multi-contact inverse-dynamics motion generation to the humanoid robot Romeo model.
## ref: ramos-humanoid-11
## url: hal.archives-ouvertes.fr/hal-00600959
## video:
## youtube_id: WkBU20Ut1Yo
## - name: demo_stab
## id: 22
## image: demo_stab.pdf.png
## title: Balance stabilization
## description: Developments toward outdoor walking, by F. Lamiraux.
## lab:
## - LAAS
## - name: demo_theremin
## id: 23
## image: demo_theremin.pdf.png
## title: Audio-based control
## lab:
## - LAAS
## - SIPG Okuno Lab
## description: Developments for the standing HRP-2 of an audio-based control, originally developed for a sitting HRP-2. The hand position is servoed to adjust the sound of the Theremin music instrument. The tempo is then adjusted by a conductor using the motion capture to track the baton.
## ref: mizumoto-iros-09
## - name: demoros
## id: 24
## image: demoros.pdf.png
## title: ROS bridge
## lab: LAAS
## description: The framework is bridged to the middleware ROS. The middleware is used to import data coming from other processes or other computers (vision data, user commands, etc). The PR-2 model is included in the framework.
## ref: moulard-ros-12
## - name: demo_romeo
## id: 25
## image: demo_romeo.pdf.png
## title: Navigation planning and execution
## lab: INRIA
## description: The robot Romeo navigates into a virtual home environment and finally performs a manipulation task. Final demonstrator of WP7 of the FUI Romeo project
## ref: keith-wpromeo-11
## video:
## youtube_id: eiQctKGUPw4
<!-- place somewhere in the <body> of your page -->
<section class="slider">
<div class="flexslider">
<ul class="slides" style="width:500px">
{% for project in {{include.carrousel}} %}
{% if project.image %}
{% if project.thumbnail %}
<li data-thumb="assets/{{ project.thumbnail }}" width="90%" max-height="500"> <!-- utility ? -->
{% else %}
<li data-thumb="assets/showcase/{{ project.image }} " width="90%" max-height="500" style="width:500px">
{% endif %}
{% if project.url%}
<a href="{{ project.url }}" target="_blank">
{% endif %}
<img width="90%" max-height="500" src="assets/showcase/{{ project.image }}"
alt="{{ project.title }}"
title="{{ project.title }}" style="float: center"/>
</a>
{% if project.description %}
<p class="flex-caption">{{ project.description }}</p>
{% endif %}
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{% else if project.video %}
{% if project.video.youtube_id %}
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<iframe width="90%" max-height="500" id="youtubevideo"
title="{{ project.title }}"
src="http://www.youtube.com/embed/{{ project.video.youtube_id}}?enablejsapi=1&version=3&playerapiid=youtubevideo&vq=hd720&{{ project.video.youtube_extra }}"
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{% if project.description %}
<p class="flex-caption" style="position: relative; text-align: center" >{{ project.description }}</p>
{% endif %}
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</ul>
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......@@ -4,8 +4,154 @@ title:
sitemap:
---
<div class="container">
<div class="jumbotron">
<a href="http://projects.laas.fr/gepetto/index.php">
<img src="{{ site.baseurl }}/assets/logo-medium-black.png" alt="Gepetto team logo" align="left"
style="max-width: 15%; margin: 1em;"/></a>
<h1 style="display: inline-block;">Stack of Tasks</h1>
<p> Software for Controlling Redundant Robots </p>
<p>
<a class="btn btn-lg btn-primary" href="download.html?branch=master" role="button">Get started now &raquo;</a>
</p>
</div>
</div>
<div class="container marketing">
<div class="row featurette" id="acknowledgement">
<div class="col-md-5 text-center">
<div class="row">
<div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;">
<a href="http://projetromeo.com">
<img title="Projet ROMEO 2" id="projetromeo_logo" src="{{ site.baseurl }}/assets/logo_romeo.jpg" alt="Logo projet ROMEO"
style="height: 70px;"/>
</a>
</div>
<div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;">
<a href="http://www.euroc-project.eu">
<img title="EUROC project" id="euroc_logo" src="{{ site.baseurl }}/assets/logo_euroc.png" alt="Logo EUROC project"
style="height: 70px;"/>
</a>
</div>
</div>
<div class="row">
<div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;">
<a href="http://erc.europa.eu/projects-and-results/erc-funded-projects/actanthrope">
<img title="ERC Actanthrope" id="ercactanthrope_logo" src="{{ site.baseurl }}/assets/logo_erc.jpg" alt="Logo ERC"
style="height: 110px;"/>
</a>
</div>
<div class="col-md-6" style="padding-top:0.5em; padding-bottom:0.5em;">
<a href="http://orb.iwr.uni-heidelberg.de/koroibot/">
<img title="Koroibot" id="koroibot_logo" src="{{ site.baseurl }}/assets/logo_koroibot.jpg" alt="EU Project: Koroibot"
style="height: 110px;"/>
</a>
</div>
</div>
</div>
<div class="col-md-5">
<h2 class="featurette-heading">Acknowledgement</h2>
<!--<p class="lead">-->
<p>
This work has been partially supported by:
<ul>
<li>FP7 Koroibot</li>
<li>Euroc project</li>
<li>ERC Actanthrope</li>
<li>PSPC Romeo 2</li>
<li>ANR Entracte</li>
</ul>
</p>
</div>
<div class="col-md-2 text-center">
<div class="row">
<div class="col-md-12">
<a href="https://ec.europa.eu/research/fp7/index_en.cfm">
<img title="Framework Program 7" id="FP7_logo" src="{{ site.baseurl }}/assets/logo_fp7.jpg" alt="Framework Program 7"
style="height: 110px;"/>
</a>
</div>
<div class="row">
<div class="col-md-12" style="padding-top:0.5em; padding-bottom:0.5em;">
<a href="http://www.agence-nationale-recherche.fr">
<img title="ANR project" id="anr_logo" src="{{ site.baseurl }}/assets/logo_anr.gif" alt="Logo ANR project"
style="height: 70px;"/>
</a>
</div>
</div>
</div>
</div>
</div>
<hr class="featurette-divider">
</div>
<div style="padding: 2em"></div>
<div id="videos">
{% include carrousel.html carrousel=site.data.projects %}
</div>
<div style="padding: 2em"></div>
<div class="container marketing">
<hr class="featurette-divider">
<div class="row featurette">
<div class="col-md-7">
<h2 class="featurette-heading">Real time Motion Control in C++</h2>
<p class="lead">
SoT is a C++ Software Developement Kit implementing a control architecture for redundant robots and more specifically for humanoid robots.
The framework is flexible enough to implement hierarchical control and weighted control.
Robots can be loaded from URDF model. The rigid body dynamics is provided through <a href="https://github.com/stack-of-tasks/pinocchio">pinocchio</a>.
It is a collection of software packages handled by cmake and pkg-config.
</p>
</div>
<div class="col-md-5">
&nbsp;
</div>
</div>
<hr class="featurette-divider">
<div class="row featurette">
<div class="col-md-5">
<img src="{{ site.baseurl }}/assets/python-logo.png" alt="Python logo" style="max-width: 95%;" />
</div>
<div class="col-md-7">
<h2 class="featurette-heading">Python interface for quick prototyping of problems</h2>
<p class="lead">
Python scripting is embedded in SoT.
A few lines of Python code allows users to
<a href="{{ site.baseurl }}/tutorials.html">solve inverse kinematics problems</a> or
<a href="https://github.com/stack-of-tasks/sot-torque-control">inverse dynamics problems</a>.
It can be interfaced with various middlewares.
The current most supported is <a href="http://wiki.ros.org/">ROS</a>.
</p>
</div>
</div>
<hr class="featurette-divider">
<div class="row featurette">
<div class="col-md-7">
<h2 class="featurette-heading">Walking Pattern Generator</h2>
<p class="lead">
A walking pattern generator library is provided to generate Center-Of-Pressure, Center-Of-Mass and feet trajectories which are balanced.
</p>
</div>
<div class="col-md-5">
<!-- <img src="{{ site.baseurl }}/assets/hpp-gui.png" alt="hpp-gui screenshot" style="max-width: 95%;" /> -->
&nbsp;
</div>
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<center>
......
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