Announcement by Dominick Vanthienen to ros-users
Dear ROS and OROCOS community,
The Robotics Group of the K.U.Leuven likes to announce the release of the new iTaSC software (iTaSC-2.0alpha). Information, documentation and installation instructions can be found on http://www.orocos.org/itasc . More documentation and example code will be made available in the coming weeks.
The K.U.Leuven Robotics Group
iTaSC stands for instantaneous Task Specification using Constraints, which is developed at the K.U.Leuven during the past years. The framework generates motions by specifying constraints in geometric, dynamic or sensor-space between the robots and their environment. These motion specifications constrain the relationships between objects (object frames) and their features (feature frames). Established robot motion specification formalisms such as the Operational Space Approach, the Task Function Approach, the Task Frame Formalism, Cartesian Space control, and Joint Space control are special cases of iTaSC and can be specified using the generic iTaSC methodology.