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

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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 evaluate the performances against RBDL, another framework with broad dissemination inside the robotics community. We also demonstrate how the source code generation embedded in Pinocchio outperforms other approaches of state of the art.
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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 2

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. SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France. ⟨hal-01866228v2⟩
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