The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives
By Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, Nicolas Mansard. IEEE/SICE International Symposium on System Integration, 2019
566 citations recorded by the source corpus.
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.
Subfields: Biomedical Engineering, Computer Vision and Pattern Recognition, Mechanical Engineering
View Paper: https://www.semanticscholar.org/paper/3e5480e64171fc19996b680be38f43b9871f6aa4
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In Biomedical Engineering
In Computer Vision and Pattern Recognition
- Sethu Vijayakumar
- Nicolas Mansard
- Bilal Hammoud
- Carlos Mastalli
- Rohan Budhiraja
- Wolfgang Merkt
- Guilhem Saurel
- Maximilien Naveau
Citations in the corpus
- Open-TeleVision: Teleoperation with Immersive Active Visual Feedback (2024, unknown): “…treatment of end-effectors’ positions and orientations ensures the stability of the robot end-effectors when the robot’s head moves along with human’s head. we employ the Closed-loop Inverse Kinematics (CLIK) algorithm based on Pinocchio [23, 24, 25] to compute the joint angles of the robot’s arm.”
- Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control (2019, methodology): “The authors would also like to thank all the developers of Pinocchio and Eigen which make this work possible by providing high-quality and open-source software.”