RBDL: an efficient rigid-body dynamics library using recursive algorithms

In our research we use rigid-body dynamics and optimal control methods to generate 3-D whole-body walking motions. For the dynamics modeling and computation we created RBDL —the Rigid Body Dynamics Library. It is a self-contained free open-source software package that implements state of the art dyn...

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Bibliographic Details
Published in:	Autonomous robots Vol. 41; no. 2; pp. 495 - 511
Main Author:	Felis, Martin L.
Format:	Journal Article
Language:	English
Published:	New York Springer US 01.02.2017 Springer Nature B.V
Subjects:	Algorithms Angular momentum Angular velocity Artificial Intelligence Computer Imaging Control Control methods Data structures Engineering Freeware Jacobians Libraries Mechatronics Operators (mathematics) Optimal control Pattern Recognition and Graphics Rigid structures Rigid-body dynamics Robotics Robotics and Automation Source code Three dimensional bodies Vision Jacobian Software Reduced coordinates Rigid-body dynamics Contact
ISSN:	0929-5593, 1573-7527
Online Access:	Get full text
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