articulated-body-algorithm

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able…

RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

Compact implementation of spatial algebra, and Featherstone's articulated-body algorithm (ABA), composite rigid body algorithm (CRBA), and the recursive Newton-Euler algorithm (RNEA) with end-to-end automatic differentiability (AD). Depends on STL, GLM and autodiff libraries.

A ROS node for the MocapNET 3D Pose Estimator

This repository contains my project assignments for the graduate-level course: BITS F441 - Robotics, under Dr B K Raut. I passed the course with the highest possible grade.

PHAROS — Platform for Hierarchical Articulated Rigid-Body and Orbital Simulation — combines spacecraft orbital, attitude, and articulated-body dynamics in a modular C++ Physics Core, with a Windows application for scenario setup and interactive 3D playback. Model moving assemblies, configure forces and actuators, and supply your own C++ controller.