RBDL: an efficient rigid-body dynamics library using recursive algorithms

@article{Felis2017RBDLAE,
  title={RBDL: an efficient rigid-body dynamics library using recursive algorithms},
  author={Martin L. Felis},
  journal={Auton. Robots},
  year={2017},
  volume={41},
  pages={495-511}
}
This is a preprint of Martin L. Felis, RBDL an Efficient Rigid-Body Dynamics Library using Recursive Algorithms, Autonomous Robots, 2016, DOI 10.1007/s10514-016-9574-0. The final version is available from: http://link.springer.com/article/10.1007/s10514-016-9574-0. Abstract In our research we use rigid-body dynamics and optimal control methods to generate 3-D wholebody walking motions. For the dynamics modeling and computation we created RBDL the Rigid Body Dynamics Library. It is a self… CONTINUE READING
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