forward-dynamics

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

Natural Coordinates with python for biomechanics

biorbd + casadi + variational integrator

Forward dynamic hybrid FE-MB model of the lumbosacral spine based on the Male Visible Human Project built in ArtiSynth.

Automated URDF-to-Modern-Robotics dynamics pipeline for extracting screw axes, spatial inertias, gravity vectors, inverse dynamics, and forward dynamics validation across UR5, SCARA, and custom manipulators.

ROS 2 controller package for fixed-base inverse/forward dynamics MPC using OCS2 and Pinocchio.

Code, data, and reviewer run instructions for reproducing the figures and analyses in “A shared dynamics representation for prediction- and control-relevant computations”.

Important mathematical algorithms used in robotics implemented using C++ and Python.