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

Justin Carpentier 1, 2 Guilhem Saurel 1 Gabriele Buondonno 1 Joseph Mirabel 1 Florent Lamiraux 1 Olivier Stasse 1 Nicolas Mansard 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
2 WILLOW - Models of visual object recognition and scene understanding
DI-ENS - Département d'informatique de l'École normale supérieure, Inria de Paris
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.
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https://hal.laas.fr/hal-01866228
Contributor : Justin Carpentier <>
Submitted on : Thursday, November 15, 2018 - 10:20:21 AM
Last modification on : Tuesday, September 22, 2020 - 3:49:20 AM
Long-term archiving on: : Saturday, February 16, 2019 - 1:26:51 PM

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  • HAL Id : hal-01866228, version 2

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Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, et al.. The Pinocchio C++ library – A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. SII 2019 - International Symposium on System Integrations, Jan 2019, Paris, France. ⟨hal-01866228v2⟩

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