inverse-dynamics

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able…

Code repository for our paper DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact

From-scratch implementation of physically simulated character animation with proportional-integral-derivative controllers (PID)

RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

PyBullet Simulation of the Franka Emika Panda 7-DOF Robot, providing movement simulation, inverse dynamics calculation and gravity compensation.

Official implementation of: "PlaySlot: Learning Inverse Latent Dynamics for Controllable Object-Centric Video Prediction and Planning" by Villar-Corrales & Behnke. ICML 2025

Obtaining the best coefficients of Inverse Dynamics Controller, for a dynamical system, with Optimization Algorithms.

Natural Coordinates with python for biomechanics

Hand-pose to tendon inverse dynamics (ID)

sdu_controllers is a C++ library that implements fundamental robot controllers. The library is developed and maintained by the SDU Robotics group at University of Southern Denmark (SDU).

PUMA560 as a sorting robot simulation in MATLAB with Peter Corke toolbox and Centralised control.

KUKA LBR iiwa 7 R800 MuJoCo (MJCF) model and motion-control demos: unified end-effector controller with damped-least-squares IK, gravity / inverse-dynamics feedforward, and task-space PD. Tuned to mujoco_menagerie conventions.

Solving Inverse Dynamics of 3-UPU Parallel Kinematic Mechanism with Physics-Guided Neural Network

Custom classes for robot modeling & control.

Biomechanical golf swing analysis across MuJoCo, Drake, Pinocchio, OpenSim, and MyoSuite, with cross-engine validation, inverse dynamics, and motion capture.

Basic planar robotic arm with arbitrary number of rotary joints

Code for the manipulation experiments from our ICML 2026 paper "On the Sample Efficiency of Inverse Dynamics Models for Semi-Supervised Imitation Learning".

Model based control examples for legged robots

Performance data and analysis for Gaussian Process Regression on SARCOS robot inverse dynamics.

Exo cad model linked to vertual human model