Model-based Optimization for Robotics

IEEE RAS Technical Committee

RBDL - Rigid body dynamics library

RBBL  contains highly efficient code for both forward and inverse dynamics of rigid multibody systems. It includes the Recursive Newton Euler Algorithm, the Composite Rigid Body Algorithm, and the Articulated Body Algorithm. Furthermore it contains functions for forward and inverse kinematics and contact handling. The code is written by Martin Felis, University of Heidelberg, and follows the  book "Rigid Body Dynamics Algorithms" of Roy Featherstone.


Licence: zlib free software license