Difference between revisions of "IDyn"

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== Code documentation ==
 
== Code documentation ==
  
* The code documentation is available in the  
+
* The code documentation is available in the [http://eris.liralab.it/iCub/main/dox/html/group__iDyn.html official iCub documentation site].
[http://eris.liralab.it/iCub/main/dox/html/group__iDyn.html official iCub documentation site].
 
  
 
== Tutorials ==
 
== Tutorials ==
  
* A short introduction to iDyn is available in the  
+
* A short introduction to iDyn is available in the [http://eris.liralab.it/iCub/main/dox/html/icub_tutorials.html official iCub tutorial site].
[http://eris.liralab.it/iCub/main/dox/html/icub_tutorials.html official iCub tutorial site].
 
  
 
* A more detailed document describing the library structure and the computations performed to retrieve forces and torques is [[Media:idyn_draft_072010.pdf| available here (pdf - draft july 2010)]].
 
* A more detailed document describing the library structure and the computations performed to retrieve forces and torques is [[Media:idyn_draft_072010.pdf| available here (pdf - draft july 2010)]].
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== Videos ==
 
== Videos ==
 
* [http://www.youtube.com/watch?v=m9zDOm410pQ iCub grasping small objects, and detecting contacts and external forces during motion]
 
* [http://www.youtube.com/watch?v=m9zDOm410pQ iCub grasping small objects, and detecting contacts and external forces during motion]
 
 
In this short demo, iDyn is used to find the external force at the end-effector, arising during contacts with the environment (table, object, human hand...).
 
In this short demo, iDyn is used to find the external force at the end-effector, arising during contacts with the environment (table, object, human hand...).
  
 
*
 
*

Revision as of 08:49, 18 August 2010

Short Introduction to iDyn

In this page you'll find pointers to anything useful regarding the iDyn library. For more details about the library or its use, ask Serena Ivaldi or Matteo Fumagalli. The library is still under development! So if you have suggestions...

Code documentation

Tutorials

  • Some tutorial examples are available in the iCub repository, in:

icub\main\src\libraries\iDyn\tutorials


Dissemination

Papers

Incoming... :)

Videos

In this short demo, iDyn is used to find the external force at the end-effector, arising during contacts with the environment (table, object, human hand...).