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)

Comments (0)

This post does not have any comments. Be the first to leave a comment below.


Post A Comment

You must be logged in before you can post a comment. Login now.

Featured Product

EXAIR’s Industrial Vacuums with No Moving Parts

EXAIR's Industrial Vacuums with No Moving Parts

EXAIR's compressed air operated Reversible Drum Vac and High Lift Reversible Drum Vac Systems attach quickly to any closed head 30, 55 or 110 gallon drum. This high powered vacuum fills a 55 gallon drum in less than two minutes. With the simple turn of a knob, the same stainless steel pump quickly empties the drum. Coolant sumps can be easily refilled, floor spills vacuumed, or contaminated liquids transferred to filtration tanks in minutes. The new High Lift Reversible Drum Vac provides maximum lift up to 15 feet. It can move thick liquids (up to 1400 cP) through 20 feet of hose. It is excellent for below grade sumps, deep wells and more. The Reversible Drum Vac and High Lift Reversible Drum Vac do not use electricity and have no moving parts, assuring maintenance free operation. It is designed for continuous and heavy duty applications where electric vacuums fail. www.exair.com/184/dvdirpr.htm Learn more at www.exair.com/184/vacpromopr.htm