Publikation
HyRoDyn: Hybrid Robot Dynamics
Shivesh Kumar; Rohit Kumar; Mareike Förster; Andreas Müller; Frank Kirchner
In: Shivesh Kumar; Andreas Müller; Frank Kirchner. Biologically Inspired Series-Parallel Hybrid Robots. Chapter 18, Pages 397-425, Vol. 514, ISBN 978-0-323-88482-2, Elsevier, 11/2024.
Zusammenfassung
The software library HyRoDyn stands for Hybrid Robot Dynamics. It implements modular methods for solving kinematics and dynamics of complex hybrid robotic systems presented in this book. This chapter delves into the HyRoDyn software architecture, which leverages modular methods to address the kinematics and dynamics of complex hybrid robotic systems. It covers the robot description format used by HyRoDyn, and introduces its connection to Phobos, a visual editing tool for generating these description files. The chapter also presents various software implementation details of HyRoDyn, its integration within the RoCK robot middleware operating system, and the Python interface for automated robot analysis tooling based on HyRoDyn.