Drake: Robotics Planning, Control And Analysis Toolbox
From MIT:
Drake ("dragon" in Middle English) is a toolbox maintained by the Robot Locomotion Group at the MIT Computer Science and Artificial Intelligence Lab (CSAIL). It is a collection of tools for analyzing the dynamics of our robots and building control systems for them in MATLAB and C++, with a heavy emphasis on optimization-based design/analysis. Here is a quick summary of capabilities:
Simulation
- Rigid-body dynamics including contact/collisions (hybrid+LCP) and kinematic loops
- Basic aerodynamics/fluid dynamics
- Sensor models (lidar, depth camera, imu, contact force/torque; cameras coming soon)
- Hand-derived models for many canonical control dynamical systems
- Easily add your own models/components
- Some support for stochastic models
- For all of the above we aim to expose sparsity and provide analytical gradients / symbolic analysis
- Primary limitations: code is optimized for analysis / planning / control design (as opposed to speed, generality)...
​... Most of these models/tools are described in the companion textbook from an MIT course/MOOC. We've also recently started populating the Drake Gallery (contributions welcome!)... (git repo)
Comments (0)
This post does not have any comments. Be the first to leave a comment below.
Featured Product
Discover how human-robot collaboration can take flexibility to new heights!
Humans and robots can now share tasks - and this new partnership is on the verge of revolutionizing the production line. Today's drivers like data-driven services, decreasing product lifetimes and the need for product differentiation are putting flexibility paramount, and no technology is better suited to meet these needs than the Omron TM Series Collaborative Robot. With force feedback, collision detection technology and an intuitive, hand-guided teaching mechanism, the TM Series cobot is designed to work in immediate proximity to a human worker and is easier than ever to train on new tasks.
