Pinocchio Models
Rigid body dynamics and kinematics models using Pinocchio, including forward/inverse dynamics, Jacobian computations, and constraint handling for multibody systems. Pinocchio provides efficient algorithms for robot dynamics and kinematics, based on Roy Featherstone's "Rigid Body Dynamics Algorithms."
Available Models
Forward Dynamics Models
Models for computing forward dynamics, including acceleration computation given forces and torques, suitable for simulation and analysis of multibody systems.
Inverse Dynamics Models
Implementation of inverse dynamics computations for analyzing forces and torques required to achieve desired motions in multibody systems.
Kinematics and Jacobian Models
Models for computing forward kinematics, Jacobians, and other kinematic quantities for multibody systems with complex joint structures.
Constraint Handling
Models and tools for handling constraints in multibody systems, including closed-loop mechanisms and systems with contact constraints.
Foundational Resources
Roy Featherstone's Website(opens in a new tab)
Roy Featherstone is a prominent researcher in robotics and rigid-body dynamics. His website offers comprehensive tutorials on spatial (6D) vectors and provides software tools for calculating robot and rigid-body dynamics. Notably, it features the spatial_v2 software library, which complements his authoritative book "Rigid Body Dynamics Algorithms." Pinocchio is based on the algorithms described in this seminal work.
Rigid Body Dynamics Algorithms - Amazon(opens in a new tab)
Roy Featherstone's classic text "Rigid Body Dynamics Algorithms" is a cornerstone in the study of robot dynamics, providing in-depth algorithms and methodologies essential for understanding and implementing rigid body dynamics. This book is the theoretical foundation for Pinocchio and is essential reading for anyone working with multibody dynamics.
Documentation & Tutorials
Pinocchio Overview(opens in a new tab)
Introduction to Pinocchio, its features, and capabilities for rigid body dynamics computation.
Pinocchio Python Documentation(opens in a new tab)
Python API documentation for Pinocchio, including installation, usage examples, and API reference.
Pinocchio C++ Documentation(opens in a new tab)
C++ API documentation for Pinocchio, including detailed reference and examples.
Pinocchio Examples(opens in a new tab)
Collection of example code demonstrating various Pinocchio features and use cases.
Support & Community
Pinocchio Discussions(opens in a new tab)
Community discussions, Q&A, and support forums for Pinocchio users on GitHub.
Pinocchio Issue Tracker(opens in a new tab)
Report bugs, request features, and track issues with Pinocchio development.