RBDL

Open-source C++ library that efficiently computes a robot's forward and inverse dynamics.

RBDL is an open-source C++ library developed by Martin Felis while at Heidelberg University in Germany. It implements the classic rigid-body dynamics algorithms from Featherstone's textbook, including the Recursive Newton-Euler Algorithm (computes inverse dynamics — torques from motion), the Articulated Body Algorithm (computes forward dynamics — accelerations from torques), and the Composite Rigid Body Algorithm (computes the mass matrix). It can also load a model from a URDF or Lua file, and provides Python bindings. Deriving the dynamics equations for a multi-joint robot by hand is tedious, and libraries like this turn it into a few lines of function calls; RBDL is commonly used in legged-robot control and motion-optimization research, and its role overlaps closely with Pinocchio.

ExampleGiven a humanoid's URDF plus its current joint angles, velocities, and target accelerations, calling RBDL's InverseDynamics function computes the torque required at each joint.

Also called

Rigid Body Dynamics Library

Related

Rigid-Body Dynamics · Recursive Newton-Euler Algorithm · Articulated Body Algorithm · Pinocchio · Orocos KDL · Unified Robot Description Format

Sources

RBDL on GitHub