Drake: Robotics Planning, Control And Analysis Toolbox
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:
- 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)...
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