ORCA is a c++ whole-body reactive controller meant to compute the desired actuation torque of a robot given some tasks to perform and some constraints.

Introduction¶

Motivation¶

Table of Contents¶

Getting Started¶

Examples¶

Controller Formulation¶

License Information

License

Authorship¶

Work on ORCA initially began in 2017 at the Institut des Systèmes Intelligents et de Robotique (ISIR). Since January 2018, active maintenance and development has been taken over by Fuzzy Logic Robotics S.A.S.