Difference between revisions of "IDyn"

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Short Introduction to iDyn
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= Getting started with iDyn =
  
- Code documentation:
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In this page you'll find pointers to anything useful regarding the iDyn library.
- Tutorial presented in VVV10
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For more details about the library or its use, ask Serena Ivaldi or Matteo Fumagalli.
- Some interesting videos:
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The library is still under development! So if you have suggestions...
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== Code documentation ==
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* The code documentation is available in the [http://wiki.icub.org/brain/group__iDyn.html official iCub documentation site].
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== Tutorials ==
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* A short introduction to iDyn is available in the [http://eris.liralab.it/iCub/main/dox/html/icub_tutorials.html official iCub tutorial site].
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* 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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* Here [[Media:idyn_tutorial_vvv10.pdf| the tutorial presented in VVV10]].
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* Some tutorial examples are available in the iCub repository, in: icub\main\src\libraries\iDyn\tutorials
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= Dissemination =
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== Papers ==
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S. Ivaldi, M. Fumagalli, M. Randazzo, F. Nori, G. Metta and G. Sandini. “Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: theory and implementation on the iCub”. Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots - HUMANOIDS’11. October 2011, Bled, Slovenia.
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== Videos ==
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* [http://www.youtube.com/watch?v=m9zDOm410pQ iCub grasping small objects, and detecting contacts and external forces during motion]
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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...).

Latest revision as of 21:16, 5 October 2016

Getting started with 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

S. Ivaldi, M. Fumagalli, M. Randazzo, F. Nori, G. Metta and G. Sandini. “Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: theory and implementation on the iCub”. Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots - HUMANOIDS’11. October 2011, Bled, Slovenia.

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...).