Fast Forward Inverse Dynamic for Multibody Systems
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Rigid multi-body dynamics in C++ and Python
Pinocchio is a C++ library for dynamic computations focusing on robotic, computer animation and biomechanical applications. It is based on the dynamic multi-body computations formalized by Featherstone in his book. The software comes with a python wrapping and vizualisation tool.
H2020 Memmo
Pinocchio is a central part of the H2020 project on the Memory of Motion. For further informations, please read the project homepage
2018-2021
RoboCom++
Pinocchio includes work funded by the european RoboCom++ project. For further informations, please read the project homepage
2017-2020
ERC Leap
Pinocchio includes work funded by the ERC Starting Grant on the LEarning from our collective visual memory to Analyze its trends and Predict future events.
2014-2019
ERC Actanthrope
Pinocchio is a central part of the ERC Advanced Grant on the Computational Foundations of Anthropomorphic Action. For further informations, please read the project homepage
2014-2018
An ANR-Entracte software
Pinocchio is an integrated software for the national ANR project ENTRACTE. For further informations, please read the project homepage
2013-2017
Library features
The following algorithms are implemented.
Recursive Newton-Euler algorithm (RNEA, i.e inverse dynamics)
Composite Rigid Body algorithm (CRBA, i.e generalized inertia matrix)
Sparse Cholsky decomposition of the inertia matrix (for constrained forward-dynamics resolution)
Placement Jacobians (i.e application from configuration velocities to end-effector spatial velocities), along with computation of body placements, velocities and accelerations.
Center of mass and its Jacobian The model can be parsed from a URDF format. The following joint models are implemented.
Revolute X, Y, Z (optimized) and unaligned with Cartesian directions
Prismatic X, Y, Z
Sperical (quaternion representation)
Free (i.e. no constraint, for mobile robots like humanoids -- using quaternion representation for the rotation) Tutorials are proposed (see the corresponding item in the menu atop the page): generate your first humanoid walk in 20 hours of work, while discovering Python, the Pinocchio interface, inverse kinematics and LQR.