https://github.com/roboticslab-uc3m/kinematics-dynamics
Kinematics and dynamics solvers and controllers.
https://github.com/roboticslab-uc3m/kinematics-dynamics
kinematics robotics screw-theory solvers
Last synced: 5 months ago
JSON representation
Kinematics and dynamics solvers and controllers.
- Host: GitHub
- URL: https://github.com/roboticslab-uc3m/kinematics-dynamics
- Owner: roboticslab-uc3m
- License: lgpl-2.1
- Created: 2015-02-03T10:04:51.000Z (over 11 years ago)
- Default Branch: master
- Last Pushed: 2026-01-18T12:12:05.000Z (5 months ago)
- Last Synced: 2026-01-18T18:57:11.002Z (5 months ago)
- Topics: kinematics, robotics, screw-theory, solvers
- Language: C++
- Homepage: https://robots.uc3m.es/kinematics-dynamics/
- Size: 18 MB
- Stars: 27
- Watchers: 15
- Forks: 17
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
Awesome Lists containing this project
README
[](https://robots.uc3m.es/kinematics-dynamics/)
Kinematics and dynamics solvers and controllers.
Link to Doxygen generated documentation: https://robots.uc3m.es/kinematics-dynamics/
## Installation
Installation instructions for installing from source can be found [here](doc/kinematics-dynamics-install.md).
## Contributing
#### Posting Issues
1. Read [CONTRIBUTING.md](CONTRIBUTING.md)
2. [Post an issue / Feature request / Specific documentation request](https://github.com/roboticslab-uc3m/kinematics-dynamics/issues)
#### Fork & Pull Request
1. [Fork the repository](https://github.com/roboticslab-uc3m/kinematics-dynamics/fork)
2. Create your feature branch (`git checkout -b my-new-feature`) off the `master` branch, following the [Forking Git workflow](https://www.atlassian.com/git/tutorials/comparing-workflows/forking-workflow)
3. Commit your changes
4. Push to the branch (`git push origin my-new-feature`)
5. Create a new Pull Request
## Citation
If you found this project useful, please consider citing the following works:
- [ScrewTheoryLib](libraries/ScrewTheoryLib/)
Bartek Łukawski, Ignacio Montesino Valle, Juan G. Victores, Alberto Jardón, and Carlos Balaguer. An inverse kinematics problem solver based on screw theory for manipulator arms. In *XLIII Jornadas de Automática*, pages 864–869. Universidade da Coruña, 2022. DOI: [10.17979/spudc.9788497498418.0864 ](https://doi.org/10.17979/spudc.9788497498418.0864 )
```bibtex
@inproceedings{lukawski2022jjaa,
author = {{\L}ukawski, Bartek and Montesino Valle, Ignacio and Victores, Juan G. and Jardón, Alberto and Balaguer, Carlos},
title = {An inverse kinematics problem solver based on screw theory for manipulator arms},
booktitle = {XLIII Jornadas de Automática},
year = {2022},
pages = {864--869},
publisher = {Universidade da Coruña},
doi = {10.17979/spudc.9788497498418.0864},
}
```
- [streamingDeviceController](programs/streamingDeviceController/)
Edwin Daniel Oña, Bartek Łukawski, Alberto Jardón, and Carlos Balaguer. A modular framework to facilitate the control of an assistive robotic arm using visual servoing and proximity sensing. In *IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC)*, pages 28–33, 2020. DOI: [10.1109/ICARSC49921.2020.9096146](https://doi.org/10.1109/ICARSC49921.2020.9096146)
```bibtex
@inproceedings{eona2020icarsc,
author = {{O\~na}, Edwin Daniel and {\L}ukawski, Bartek and Jardón, Alberto and Balaguer, Carlos},
title = {A modular framework to facilitate the control of an assistive robotic arm using visual servoing and proximity sensing},
booktitle = {IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC)},
year = {2020},
pages = {28--33},
doi = {10.1109/ICARSC49921.2020.9096146},
}
```
Bartek Łukawski, Juan G. Victores, and Carlos Balaguer. A generic controller for teleoperation on robotic manipulators using low-cost devices. In *XLIV Jornadas de Automática*, pages 785–788. Universidade da Coruña, 2023. DOI: [10.17979/spudc.9788497498609.785](https://doi.org/10.17979/spudc.9788497498609.785)
```bibtex
@inproceedings{lukawski2023jjaa,
author = {{\L}ukawski, Bartek and Victores, Juan G. and Balaguer, Carlos},
title = {A generic controller for teleoperation on robotic manipulators using low-cost devices},
booktitle = {XLIV Jornadas de Automática},
year = {2023},
pages = {785--788},
publisher = {Universidade da Coruña},
doi = {10.17979/spudc.9788497498609.785},
}
```
- [CartesianControlServerROS2](libraries/YarpPlugins/CartesianControlServerROS2/) and [ROS 2 workspace packages](ros2/workspace/src/)
Bartek Łukawski, Mercedes Rebollo, Ángel Gilabert, Juan G. Victores, Carlos Balaguer, and Alberto Jardón. YARP Cartesian controller layers over ROS 2 for teleoperation and web applications. In *XLVI Jornadas de Automática*. Universidade da Coruña, 2025. DOI: [10.17979/ja-cea.2025.46.12252](https://doi.org/10.17979/ja-cea.2025.46.12252)
```bibtex
@inproceedings{lukawski2025jjaa,
author = {{\L}ukawski, Bartek and Mercedes, Rebollo and Gilabert, Ángel and Victores, Juan G. and Balaguer, Carlos and Jardón, Alberto},
title = {{YARP} {Cartesian} controller layers over {ROS} 2 for teleoperation and web applications},
booktitle = {XLVI Jornadas de Automática},
year = {2025},
publisher = {Universidade da Coruña},
doi = {10.17979/ja-cea.2025.46.12252},
}
```
## Status
[](https://github.com/roboticslab-uc3m/kinematics-dynamics/actions/workflows/ci.yml)
[](https://github.com/roboticslab-uc3m/kinematics-dynamics/issues)
## Similar and Related Projects
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- [pyquaternion](http://kieranwynn.github.io/pyquaternion/) ([KieranWynn/pyquaternion](https://github.com/KieranWynn/pyquaternion))
### Fast Solvers
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### IK-Solvers
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- [AversivePlusPlus/ik](https://github.com/AversivePlusPlus/ik)
- [ros-industrial-consortium/descartes](https://github.com/ros-industrial-consortium/descartes)
- [IKPy](https://phylliade.github.io/ikpy) ([Phylliade/ikpy](https://github.com/Phylliade/ikpy))
- [uts-magic-lab/Magiks](https://github.com/uts-magic-lab/Magiks)
- [tasts-robots/pink](https://github.com/tasts-robots/pink): Based on Pinocchio
### Kinematics and Dynamics
- [orocos/orocos_kinematics_dynamics](https://github.com/orocos/orocos_kinematics_dynamics) ([roboticslab-uc3m/installation-guides](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-kdl.md)): A dependency of this repository
- [iDyn](http://www.icub.org/doc/icub-main/idyn_introduction.html): Library in [robotology/icub-main](https://github.com/robotology/icub-main) for computing kinematics and dynamics of serial-links chains of revolute joints and limbs
- [stack-of-tasks/pinocchio](https://github.com/stack-of-tasks/pinocchio)
- [RBDL](https://rbdl.github.io/) ([rbdl/rbdl](https://github.com/rbdl/rbdl)): Rigid Body Dynamics Library. The code tightly follows the notation used in Roy Featherstone's book "Rigid Body Dynamics Algorithm".
- [NxRLab/ModernRobotics](https://github.com/NxRLab/ModernRobotics)
- [adityadua24/robopy](https://github.com/adityadua24/robopy)
- [jdj2261/pykin](https://github.com/jdj2261/pykin)
### Path-Planning, Trajectory generation and optimization
- All the parts of [OpenRAVE](http://openrave.org/) ([rdiankov/openrave](https://github.com/rdiankov/openrave), [roboticslab-uc3m/installation-guides](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-openrave.md)) we do not use
- [PythonRobotics](https://atsushisakai.github.io/PythonRobotics/) ([AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics))
- [ros-industrial-consortium/trajopt\_ros](https://github.com/ros-industrial-consortium/trajopt_ros): Trajectory Optimization Motion Planner for ROS (uses http://rll.berkeley.edu/trajopt)
- [pantor/ruckig](https://github.com/pantor/ruckig): Online Trajectory Generation. Real-time. Time-optimal. Jerk-constrained.
- https://rosindustrial.org/news/2018/7/5/optimization-motion-planning-with-tesseract-and-trajopt-for-industrial-applications
- [ROSPlan](http://kcl-planning.github.io/ROSPlan/) ([KCL-Planning/ROSPlan](https://github.com/KCL-Planning/ROSPlan)): Tools for AI Planning in a ROS system.
- [jrl-umi3218/Tasks](https://github.com/jrl-umi3218/Tasks): It has been used extensively to control humanoid robots such as HOAP-3, HRP-2, HRP-4 and Atlas.
- [cartographer-project (org)](https://github.com/cartographer-project): Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configuration
### Humanoid-oriented
- [roboticslab-uc3m/gait](https://github.com/roboticslab-uc3m/gait)
- [roboticslab-uc3m/gaitcontrol](https://github.com/roboticslab-uc3m/gaitcontrol)
- [roboticslab-uc3m/TEOTraGen](https://github.com/roboticslab-uc3m/TEOTraGen)
- [roboticslab-uc3m/footsteps](https://github.com/roboticslab-uc3m/footsteps): Includes interesting links
- [munozyanez/spgait](https://github.com/munozyanez/spgait)
- [robotology](https://github.com/robotology)
- [robotology/walking-controllers](https://github.com/robotology/walking-controllers)
- [robotology/whole-body-controllers](https://github.com/robotology/whole-body-controllers)
- [epfl-lasa/icub-ds-walking](https://github.com/epfl-lasa/icub-ds-walking)
- [stephane-caron](https://github.com/stephane-caron)
- [stephane-caron/lipm_walking_controller](https://github.com/stephane-caron/lipm_walking_controller) ([wiki](https://github.com/stephane-caron/lipm_walking_controller/wiki/How-to-use-the-graphical-user-interface%3F), [docker](https://hub.docker.com/r/stephanecaron/lipm_walking_controller))
- [stephane-caron/pymanoid](https://github.com/stephane-caron/pymanoid): Humanoid robotics prototyping environment based on [OpenRAVE](http://openrave.org/) ([rdiankov/openrave](https://github.com/rdiankov/openrave), [roboticslab-uc3m/installation-guides](https://github.com/roboticslab-uc3m/installation-guides/blob/master/docs/install-openrave.md))
- [Stack of Tasks](https://stack-of-tasks.github.io/) ([stack-of-tasks (org)](https://github.com/stack-of-tasks))
- [Humanoid Path Planner](https://humanoid-path-planner.github.io/hpp-doc) ([humanoid-path-planner (org)](https://github.com/humanoid-path-planner))
- [AIS-Bonn/humanoid_op_ros](https://github.com/AIS-Bonn/humanoid_op_ros): Contains interesting walking motion in [./src/nimbro/motion](https://github.com/AIS-Bonn/humanoid_op_ros/tree/master/src/nimbro/motion)
- [adamlukomski/iva](https://github.com/adamlukomski/iva)
- [pal-robotics](https://github.com/pal-robotics)
- [loco-3d](https://github.com/loco-3d)
- https://discourse.ros.org/t/humanoids-sig/1949/12
- [isri-aist](https://github.com/isri-aist)
- [isri-aist/BaselineWalkingController](https://github.com/isri-aist/BaselineWalkingController) ([docker](https://github.com/orgs/isri-aist/packages?repo_name=BaselineWalkingController))
- [isri-aist/CentroidalControlCollection](https://github.com/isri-aist/CentroidalControlCollection)
- via learning
- [DLR-RM/rl-baselines3-zoo](https://github.com/DLR-RM/rl-baselines3-zoo) includes humanoid (also see pretrained at )
-
- [nav74neet/ddpg_biped](https://github.com/nav74neet/ddpg_biped)