Robot kinematics implemented in pytorch

Python inverse kinematics using Pinocchio and QP solvers

A fast forward- and inverse kinematics solver for Arduino based on the FABRIK algorithm. The solver supports up to 4 DOF.

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 to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

A Tutorial on Manipulator Differential Kinematics

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

Julia implementation of various rigid body dynamics and kinematics algorithms

MoveIt kinematics_base plugin based on particle optimization & GA

Artificial Intelligence for Kinematics, Dynamics, and Optimization

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

Adapt and audit a PFC 5.0 asphalt Marshall stability/flow simulation using the external fistPkg26 dc.fis two-head controller as a starting skeleton; use for curved-head geometry, PFC5 wall/contact kinematics, load-deformation histories, peak stability, edition-specific flow processing, and validation against laboratory data.