ControlIt! - A Software Framework for Whole-Body Operational Space Control
C.-L. Fok, G. Johnson, J. D. Yamokoski, A. Mok, and L. Sentis

TL;DR
ControlIt! is an open-source, multi-threaded software framework for Whole-Body Operational Space Control that enables flexible, high-frequency control of complex humanoid robots with easy integration and plugin support.
Contribution
It introduces a modular, extensible software architecture for WBOSC that improves performance and ease of integration over previous implementations.
Findings
Achieves servo latencies of about 0.5ms on standard hardware.
Supports easy robot integration with minimal plugin requirements.
Demonstrated on a 16-DOF humanoid robot performing a disassembly task.
Abstract
Whole Body Operational Space Control (WBOSC) is a pioneering algorithm in the field of human-centered Whole-Body Control (WBC). It enables floating-base highly-redundant robots to achieve unified motion/force control of one or more operational space objectives while adhering to physical constraints. Limited studies exist on the software architecture and APIs that enable WBOSC to perform and be integrated into a larger system. In this paper we address this by presenting ControlIt!, a new open-source software framework for WBOSC. Unlike previous implementations, ControlIt! is multi-threaded to increase servo frequencies on standard PC hardware. A new parameter binding mechanism enables tight integration between ControlIt! and external processes via an extensible set of transport protocols. To support a new robot, only two plugins and a URDF model needs to be provided --- the rest of…
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Taxonomy
TopicsProsthetics and Rehabilitation Robotics · Robot Manipulation and Learning · Robotic Locomotion and Control
