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)
Featured Product
Boston Dynamics Webinar - Why Humanoids Are the Future of Manufacturing
Join us November 18th for this Webinar as we reflect on what we've learned by observing factory floors, and why we've grown convinced that chasing generalization in manipulation—both in hardware and behavior—isn't just interesting, but necessary. We'll discuss AI research threads we're exploring at Boston Dynamics to push this mission forward, and highlight opportunities our field should collectively invest more in to turn the humanoid vision, and the reinvention of manufacturing, into a practical, economically viable product.
