The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives

  • Posted on: 25 March 2021
  • By: ostasse
TitleThe Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives
Publication TypeConference Paper
Year of Publication2019
AuthorsCarpentier, J, Saurel, G, Buondonno, G, Mirabel, J, Lamiraux, F, Stasse, O, Mansard, N
Conference NameIEEE/SICE International Symposium on System Integration, SII 2019, Paris, France,
Date PublishedJanuary 14-16, 2
PublisherIEEE
Conference LocationParis
Keywordsrigid body dynamics library, software
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.

 

 

URLhttps://doi.org/10.1109/SII.2019.8700380
DOI10.1109/SII.2019.8700380
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