robot-dynamics

[UNMAINTAINED] Symbolic Framework for Modeling and Identification of Robot Dynamics

Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).

Fast-paced lectures to familiarize new entrants to the lab with key areas in robotics — perception, navigation, control, and learning.

Calculates the dynamic equations of motion of a N DOF robot arm using the Lagrangian formulation.

The goal of the project ROSdyn is to realize a ROS-based package that implement a fully automated procedure able to calibrate the robot dynamics model. The use of ROS ecosystem enable the standardization of several steps of the procedure, such as the messages exchanged between nodes. A further step towards standardization is represented by the u…

bard is a lightweight, PyTorch-native library for rigid-body dynamics that leverages tensor operations to perform efficient, batched computations on either the CPU or GPU. It provides a simple yet powerful API for loading robots from URDF files and analyzing their motion using standard robotics algorithms.

In this repository, dynamic model for 6DOF robot is derived using Euler-Lagrange approach. Inertia matrix, Coriolis matrix, and gravity vector are calculated. The repository is also a solution for Assignment4 in Dynamics of Nonlinear Robotics Systems course for ROCV master's program at Innopolis University.

Dynamic parameter identification of a 7-DOF robotic manipulator

[L4DC 2025] Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning

A MATLAB Toolbox for Efficient Simulation and Control of Flexible Robots

A high-fidelity, mathematically rigorous 6-axis robotic arm simulation.

Six degrees-of-freedom (6DOF) dynamic modeling and adaptive/robust control of an anthropomorphic manipulator arm designed in Simulink environment.

Robotics Projects

Trajectory simulation of the Pelican Prototype Robot of the CICESE Research Center, Mexico. The position control used was PD control with gravity compensation and the 4th order Runge-Kutta method.

A C++ library containing commonly-used Lie theory operations in robot dynamics

Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator 🤖

A deterministic motion planning and Computed Torque Control framework for lightweight 6-axis robotic arms in ROS 2 Jazzy, featuring analytical kinematics, Pinocchio dynamics, and automated system identification.

Planar 3-link robot arm: neural-network inverse kinematics with an energy- and smoothness-aware loss, plus Lagrangian (SymPy) vs PyBullet dynamics validation. Joint work with Hadi Dashti.

Automated URDF-to-Modern-Robotics dynamics pipeline for extracting screw axes, spatial inertias, gravity vectors, inverse dynamics, and forward dynamics validation across UR5, SCARA, and custom manipulators.

Modern C++20 motion core for industrial robotics, targeting kinematics, dynamics, trajectory generation, calibration, and robust numerics.