Orocos (Open RObot COntrol Software): "Goals of the project
1. To develop robot control software,...
... under Free Software and/or OpenSource license(s),
... with a long-term vision and design,
... emphasizing software components for (hard real-time) control, hardware interfacing, communication, kinematics and dynamics, task specification, sensing, etc., " I can't even get this site to open right. Somehow I'm not holding my breath. Of course that' the kind of thing that always sneeks up on you and bites you on the butt.