Integrating a new rigid-body dynamics model library with an existing whole-body controller

From ISLAB/CAISR
Title Integrating a new rigid-body dynamics model library with an existing whole-body controller
Summary Integrating a new rigid-body dynamics model library with an existing whole-body controller
Keywords
TimeFrame
References
Prerequisites
Author Anton Jerey, Thomas Holleis, Marlene Mohr
Supervisor Roland Philippsen
Level Flexible
Status Finished

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(under construction)

The SVA-based http://rbdl.bitbucket.org/ looks like a very promising replacement for an older component of https://github.com/poftwaresatent/stanford_wbc so this project will investigate to what extend those are compatible and how to integrate the RBDL code with Stanford-WBC.