目录
Pinocchio
Pinocchioinstantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.
RBDL
RBDL - Rigid Body Dynamics Library
RBDL is a highly efficient C++ library that contains some essential rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix. It further contains code for Jacobians, forward and inverse kinematics, handling of external constraints such as contacts and collisions, and closed-loop models.
The code is developed by Martin Felis martin@fysx.org at the research group Optimization in Robotics and Biomechanics (ORB) of the Interdisciplinary Center for Scientific Computing (IWR) at Heidelberg University. The code tightly follows the notation used in Roy Featherstone''s book "Rigid Body Dynamics Algorithm".
KDL
The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc. It provides class libraries for geometrical objects (point, frame, line,... ), kinematic chains of various families (serial, humanoid, parallel, mobile,... ), and their motion specification and interpolation.KDL
FROST
FROST(Fast Robot Optimization and Simulation Toolkit)
an open-source MATLAB toolkit developed by AMBER Lab for dynamical system modeling, trajectory optimization and model-based control design of robotic systems, with a special focus in dynamic locomotion whose dynamics is hybrid in nature. The design objective of FROST is to provide a unified software environment for developing model based control and motion planning algorithms based on Hybrid Zero Dynamics framework for robotic systems.
DRAKE
Drake (“dragon” in Middle English) is a C++ toolbox started by the Robot Locomotion Group at the MIT Computer Science and Artificial Intelligence Lab (CSAIL). The development team has now grown significantly, with core development led by the Toyota Research Institute. It is a collection of tools for analyzing the dynamics of our robots and building control systems for them, with a heavy emphasis on optimization-based design/analysis.
贝克利布料仿真 ARCSim:
ARCSim: Adaptive Refining and Coarsening Simulator - U.C. Berkeley Computer Graphics Research
ArcSim is a simulation engine for animating sheets of deformable materials such as cloth, paper, plastic, and metal. It uses adaptively refined triangle meshes to efficiently resolve the geometric and dynamic detail of the simulated objects.
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