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
Thermal Seal Inspection for Improved Quality and Efficiency
MoviTHERM's Thermal Seal Inspection (TSI) solution provides precise and reliable detection of defects in a variety of packaging types, including pouches, bags, blister packs, bottle caps, and more. By detecting defects in your packages, the TSI solution helps increase efficiency in your production line and ensures top-quality packaging is delivered to your customers every time. With state-of-the-art technology and an experienced team, MoviTHERM is dedicated to delivering accurate inspection solutions and peace of mind to its clients. Contact MoviTHERM today to learn more about their thermal seal inspection solution.
