Welcome to CartesI/O’s documentation!

A novel Cartesian control framework with a focus on online control of multi-chained, hyper-redundant floating-base robots!



  • multiple task specification

  • ability to enforce soft priorities as well as hard priorities between tasks

  • ability to specify constraints in the task execution

  • small computation time (suitable for online execution)

  • possibility to execute inside a real-time thread in order to reduce delays and jitter

  • ease of configuration and use, quick setup time and ready to use control tools

  • parametrized with standard description formats (e.g. URDF) in order to support multiple platforms

  • handling of floating base robots

  • heavily customizable through plugins, at almost all layers

How to install

A binary distribution is available by adding a new source (with the corresponding GPG key) to apt, and then invoking the usual update/install commands:

  • sudo sh -c 'echo "deb http://xbot.cloud/xbot2/ubuntu/$(lsb_release -sc) /" > /etc/apt/sources.list.d/xbot-latest.list'

  • wget -q -O - http://xbot.cloud/xbot2/ubuntu/KEY.gpg | sudo apt-key add -

  • sudo apt update

  • sudo apt install cartesian_interface

To use the software, sourcing the installed environment script is required. You can add the line source /opt/xbot/setup.sh to your .bashrc file.

Cite our work

..with the bibtex below!

author={A. {Laurenzi} and E. M. {Hoffman} and L. {Muratore} and N. G. {Tsagarakis}},
booktitle={2019 International Conference on Robotics and Automation (ICRA)},
title={{CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework}},