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Kinematics and dynamics solvers and controllers.

Link to Doxygen generated documentation: https://robots.uc3m.es/kinematics-dynamics/

Installation

Installation instructions for installing from source can be found here.

Contributing

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Status

Similar and Related Projects

Kinematics and Dynamics

orocos/orocos_kinematics_dynamics (roboticslab-uc3m/installation-guides): A dependency of this repository
iDyn: Library in robotology/icub-main for computing kinematics and dynamics of serial-links chains of revolute joints and limbs
RBDL (rbdl/rbdl): Rigid Body Dynamics Library. The code tightly follows the notation used in Roy Featherstone's book "Rigid Body Dynamics Algorithm".
adityadua24/robopy

Path-Planning, Trajectory generation and optimization

All the parts of OpenRAVE (rdiankov/openrave, roboticslab-uc3m/installation-guides) we do not use
PythonRobotics (AtsushiSakai/PythonRobotics)
ros-industrial-consortium/trajopt_ros: Trajectory Optimization Motion Planner for ROS (uses http://rll.berkeley.edu/trajopt)
pantor/ruckig: Online Trajectory Generation. Real-time. Time-optimal. Jerk-constrained.
https://rosindustrial.org/news/2018/7/5/optimization-motion-planning-with-tesseract-and-trajopt-for-industrial-applications
ROSPlan (KCL-Planning/ROSPlan): Tools for AI Planning in a ROS system.
jrl-umi3218/Tasks: It has been used extensively to control humanoid robots such as HOAP-3, HRP-2, HRP-4 and Atlas.
googlecartographer (org): Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configuration

Humanoid-oriented

roboticslab-uc3m/gait
roboticslab-uc3m/gaitcontrol
roboticslab-uc3m/TEOTraGen
roboticslab-uc3m/footsteps: Includes interesting links
munozyanez/spgait
robotology/walking-controllers
robotology/whole-body-controllers
epfl-lasa/icub-ds-walking
stephane-caron/pymanoid: Humanoid robotics prototyping environment based on OpenRAVE (rdiankov/openrave, roboticslab-uc3m/installation-guides)
AIS-Bonn/humanoid_op_ros: Contains interesting walking motion in ./src/nimbro/motion
Stack of Tasks (stack-of-tasks (org))
nav74neet/ddpg_biped
https://github.com/pal-robotics
https://github.com/loco-3d
https://discourse.ros.org/t/humanoids-sig/1949/12

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