Displaying 1 to 15 from 15 results

hexapod-robot-simulator - A hexapod robot simulator built from first principles

  •    Python

You might be interested in checking out my rewrite in Javascript, live at: https://hexapod.netlify.app/ , which is like 10000000x faster. If you'd like to build you're own user interface with Node, you can download the algorithm alone as a package in the npm registry: Hexapod Kinematics Library. There is also a "fork" modified where you can use the app to control a physical hexapod robot as you can see in the gif below.

pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

  •    C++

Pinocchio instantiates 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. Pinocchio is first tailored for robotics applications, but it can be used in extra contexts (biomechanics, computer graphics, vision, etc.). It is built upon Eigen for linear algebra and FCL for collision detection. Pinocchio comes with a Python interface for fast code prototyping, directly accessible through Conda.

hexapod - Blazing fast hexapod robot simulator for the web.

  •    Javascript

You can use this web app to solve inverse kinematics, simulate various gaits, and more. In real time, you can also view all the angles the robot's eighteen joints make at any particular pose. All the computations are solely done in your browser, nothing's fetching data from somewhere else, so it should be fast. Another (somewhat) cool thing is that this app does NOT depend on any external mathematics library; it only uses Javascript's built-in Math object. If you'd like to build you're own user interface with Node, you can download the algorithm alone as a package: Hexapod Kinematics Library. There is also a "fork" modified where you can use the app to control a physical hexapod robot as you can see in the gif below.




THREE.IK - inverse kinematics for three.js

  •    Javascript

Inverse kinematics for three.js. A work in progress, THREE.IK supports multiple chains with multiple effectors, solved via FABRIK iterative solver, and a ball-joint constraint. Best way to see how this works for now is to check out the demo, examples, and the docs.

handeye_calib_camodocal - Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa

  •    C++

This is a ROS node integrating the Hand Eye Calibration implemented in CamOdoCal. See this stack exchange question explaining how Hand Eye Calibration works. keynote presentation explaining many details about hand eye calibration for those that are interested. Practical code and instructions to calibrate your robot can be found below.


RigidBodyDynamics.jl - Julia implementation of various rigid body dynamics and kinematics algorithms

  •    Julia

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. See the notebooks directory for some usage examples.

k - k: Kinematics Library for rust-lang

  •    Rust

k has below functionalities. k uses nalgebra as math library.

wb-toolbox - Simulink Toolbox for rapid prototyping of Whole Body Robot Controllers

  •    C++

This toolbox allows non-programming experts and researchers approaching Whole Body Control to more easily develop controllers on either simulated or real YARP-based robotic platforms. Develop to deployment time is minimized by exploiting the rich variety of Simulink's toolboxes and its capabilities on rapid prototyping and visual debugging. Visit the WB-Toolbox Website for more informations.

pybotics - The Python Toolbox for Robotics

  •    Python

Pybotics is an open-source Python toolbox for robot kinematics and calibration. It was designed to provide a simple, clear, and concise interface to quickly simulate and evaluate common robot concepts, such as kinematics, dynamics, trajectory generations, and calibration. The toolbox is specifically designed for use with the Modified Denavit–Hartenberg parameters convention.

urdfpy - Python parser for URDFs

  •    Python

Urdfpy is a simple and easy-to-use library for loading, manipulating, saving, and visualizing URDF files. Extensive API documentation is provided here.






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