Repository Index

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

• robotics
• dynamics
• analytical-derivatives
• kinematics

High-performance C++ library for multiphysics and multibody dynamics simulations

• simulation
• physics-simulation
• modeling
• robotics

High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.

• multibody-dynamics
• physics-engine
• physics-simulation
• robotics

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

• optimal-control
• model-predictive-control
• ilqr
• ilqg

This rocq library aims to formalize a substantial body of mathematics using the univalent point of view.

• coq
• mathematics
• unimath
• coq-library

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.

• articulated-body-algorithm
• inverse-dynamics
• forward-dynamics
• multi-body-dynamics

Multibody dynamics tool kit.

• python
• dynamics
• physics
• simulation