Software release: (floating-base) robot kinematics and dynamics
Published:
It is our great pleasure to opensource the library GeometricRobotics, which is an opensource C++ implementation of the robot kinematics and dynamics.
Repository: https://gite.lirmm.fr/yuquan/geometricrobotics
We strictly followed the geometric approach according to the textbook [1] and we also selected pearls from the textbook [2] to extend to the floating-base robots.
The reasons that motivated us to develop the software are the follows:
It simplifies the transforms between coordinate frames, e.g., wrench, velocity, and inertia.
It provides unique computations for robotic manipulators, e.g., the Coriolis matrix and the derivative of the joint-space inertia matrix.
Tested for numerous robots:
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Most of the computations are unit-tested against other libraries or numerical computations. We hope GeometricRobotics would be your best friend during the journey of scientific research. Please clone, install, and try out. Should you have issues, let us discuss and address them together!
[1] Murray, Richard M., Zexiang Li, and S. Shankar Sastry. A mathematical introduction to robotic manipulation. CRC press, 2017.
[2] Featherstone, Roy. “Spatial vector algebra.” Rigid body dynamics algorithms. Springer, Boston, MA, 2008.
