All Projects → JuliaRobotics → Rigidbodydynamics.jl

JuliaRobotics / Rigidbodydynamics.jl

Licence: other
Julia implementation of various rigid body dynamics and kinematics algorithms

Programming Languages

julia
2034 projects

Projects that are alternatives of or similar to Rigidbodydynamics.jl

Dart
Dynamic Animation and Robotics Toolkit
Stars: ✭ 596 (+223.91%)
Mutual labels:  robotics, dynamics, kinematics, simulation
Pybotics
The Python Toolbox for Robotics
Stars: ✭ 192 (+4.35%)
Mutual labels:  robotics, dynamics, kinematics
Robotics Toolbox Python
Robotics Toolbox for Python
Stars: ✭ 369 (+100.54%)
Mutual labels:  robotics, dynamics, kinematics
Robotics-Planning-Dynamics-and-Control
RPDC : This contains all my MATLAB codes for the Robotics, Planning, Dynamics and Control . The implementations model various kinds of manipulators and mobile robots for position control, trajectory planning and path planning problems.
Stars: ✭ 171 (-7.07%)
Mutual labels:  control, kinematics, dynamics
Hexapod
Blazing fast hexapod robot simulator for the web.
Stars: ✭ 370 (+101.09%)
Mutual labels:  robotics, kinematics, simulation
Rl
The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
Stars: ✭ 391 (+112.5%)
Mutual labels:  robotics, dynamics, kinematics
Pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Stars: ✭ 432 (+134.78%)
Mutual labels:  robotics, dynamics, kinematics
Robotics Toolbox Matlab
Robotics Toolbox for MATLAB
Stars: ✭ 601 (+226.63%)
Mutual labels:  robotics, dynamics, kinematics
Bullet3
Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
Stars: ✭ 8,714 (+4635.87%)
Mutual labels:  robotics, kinematics, simulation
Gym Ignition
Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo
Stars: ✭ 97 (-47.28%)
Mutual labels:  robotics, simulation
Grl
Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
Stars: ✭ 105 (-42.93%)
Mutual labels:  robotics, control
Articulations Robot Demo
Stars: ✭ 145 (-21.2%)
Mutual labels:  robotics, simulation
Ikbt
A python package to solve robot arm inverse kinematics in symbolic form
Stars: ✭ 97 (-47.28%)
Mutual labels:  robotics, kinematics
Awesome Emulators Simulators
A curated list of software emulators and simulators of PCs, home computers, mainframes, consoles, robots and much more...
Stars: ✭ 94 (-48.91%)
Mutual labels:  robotics, simulation
Pydy Tutorial Human Standing
PyDy tutorial materials for MASB 2014, PYCON 2014, and SciPy 2014/2015.
Stars: ✭ 135 (-26.63%)
Mutual labels:  dynamics, simulation
Webots
Webots Robot Simulator
Stars: ✭ 1,324 (+619.57%)
Mutual labels:  robotics, simulation
Autonomousdrivingcookbook
Scenarios, tutorials and demos for Autonomous Driving
Stars: ✭ 1,939 (+953.8%)
Mutual labels:  robotics, simulation
Assistive Gym
Assistive Gym, a physics-based simulation framework for physical human-robot interaction and robotic assistance.
Stars: ✭ 150 (-18.48%)
Mutual labels:  robotics, simulation
Scrimmage
Multi-Agent Robotics Simulator
Stars: ✭ 93 (-49.46%)
Mutual labels:  robotics, simulation
Open Quadruped
An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
Stars: ✭ 148 (-19.57%)
Mutual labels:  robotics, control

RigidBodyDynamics.jl

Build Status codecov.io

RigidBodyDynamics.jl is a rigid body dynamics library in pure Julia. It aims to be user friendly and performant, but also generic in the sense that the algorithms can be called with inputs of any (suitable) scalar types. This means that if fast numeric dynamics evaluations are required, a user can supply Float64 or Float32 inputs. However, if symbolic quantities are desired for analysis purposes, they can be obtained by calling the algorithms with e.g. SymPy.Sym inputs. If gradients are required, e.g. the ForwardDiff.Dual type, which implements forward-mode automatic differentiation, can be used.

See the latest stable documentation for a list of features, installation instructions, and a quick-start guide. Installation should only take a couple of minutes, including installing Julia itself. The documentation includes various usage examples, starting with a quickstart guide. These examples are also runnable locally as Jupyter notebooks; see the readme in the examples directory for instructions.

Related packages

RigidBodyDynamics.jl is part of the JuliaRobotics GitHub organization.

Packages built on top of RigidBodyDynamics.jl include:

Talks / publications

  • May 20, 2019: paper at ICRA 2019: Julia for robotics: simulation and real-time control in a high-level programming language.
  • August 10, 2018: Robin Deits gave a talk at JuliaCon 2018 demonstrating RigidBodyDynamics.jl and related packages.
  • August 23, 2017: a video of a JuliaCon 2017 talk given by Robin Deits and Twan Koolen on using Julia for robotics has been uploaded. It includes a brief demo of RigidBodyDynamics.jl and RigidBodyTreeInspector.jl. Note that RigidBodyDynamics.jl performance has significantly improved since this talk. The margins of the slides have unfortunately been cut off somewhat in the video.
Note that the project description data, including the texts, logos, images, and/or trademarks, for each open source project belongs to its rightful owner. If you wish to add or remove any projects, please contact us at [email protected].