The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Access content directly
Conference Papers Year : 2019

The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives

Abstract

We introduce Pinocchio, an open-source software framework that implements rigid body dynamics algorithms and their analytical derivatives. Pinocchio does not only include standard algorithms employed in robotics (e.g. forward and inverse dynamics) but provides additional features essential for the control, the planning and the simulation of robots. In this paper, we describe these features and detail the programming patterns and design which make Pinocchio efficient. We also offer a short tutorial for easy handling of the framework.
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Dates and versions

hal-01866228 , version 1 (03-09-2018)
hal-01866228 , version 2 (15-11-2018)

Identifiers

  • HAL Id : hal-01866228 , version 1

Cite

Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, et al.. The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. IEEE/SICE International Symposium on System Integrations (SII 2019), Jan 2019, paris, France. ⟨hal-01866228v1⟩
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