Team, Visitors, External Collaborators
Overall Objectives
Research Program
Application Domains
Highlights of the Year
New Software and Platforms
New Results
Bilateral Contracts and Grants with Industry
Partnerships and Cooperations
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Section: New Software and Platforms


Keywords: Robotics - Biomechanics - Mechanical multi-body systems

Functional Description: Pinocchio instantiates state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. In addition, Pinocchio instantiates analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithms or the Articulated-Body Algorithm. Pinocchio is first tailored for legged robotics applications, but it can be used in extra contexts. It is built upon Eigen for linear algebra and FCL for collision detection. Pinocchio comes with a Python interface for fast code prototyping.