RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

Code repository for our paper DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact

From-scratch implementation of physically simulated character animation with proportional-integral-derivative controllers (PID)

RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints

PyBullet Simulation of the Franka Emika Panda 7-DOF Robot, providing movement simulation, inverse dynamics calculation and gravity compensation.

Obtaining the best coefficients of Inverse Dynamics Controller, for a dynamical system, with Optimization Algorithms.

Official implementation of: "PlaySlot: Learning Inverse Latent Dynamics for Controllable Object-Centric Video Prediction and Planning" by Villar-Corrales & Behnke. ICML 2025

Natural Coordinates with python for biomechanics

sdu_controllers is a C++ library that implements fundamental robot controllers. The library is developed and maintained by the SDU Robotics group at University of Southern Denmark (SDU).

PUMA560 as a sorting robot simulation in MATLAB with Peter Corke toolbox and Centralised control.

Solving Inverse Dynamics of 3-UPU Parallel Kinematic Mechanism with Physics-Guided Neural Network

Custom classes for robot modeling & control.

Basic planar robotic arm with arbitrary number of rotary joints

Performance data and analysis for Gaussian Process Regression on SARCOS robot inverse dynamics.

Digital twin prototyping project, simulating a 3DOF robotic arm that can draw with a laser. Forward kinematics and inverse kinematics and dynamics are computed, along with performing cubic interpolation with constant acceleration to achieve accurate trajectories.

Model based control examples for legged robots

Personalized federated learning for inverse LQR

Robust Min-Max vs Nominal Computed Torque Control for PUMA 560 Robot (MATLAB)

Important mathematical algorithms used in robotics implemented using C++ and Python.

Exo cad model linked to vertual human model

Deep learning demo of an inverse dynamics model using CNNs, inspired by NVIDIA’s GR00T robotics research.

A suite of Python 2 and 3 compatible programs derived from the PyODE Tutorial 2 web available at http://pyode.sourceforge.net/tutorials/tutorial2.html used to evaluate double pendulum dynamics simulation with Open Dynamics Engine (ODE) . The Pygame package is used to display simulation animation.