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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

The code documentation is available in the official iCub documentation site.


A short introduction to iDyn is available in the official iCub tutorial site.

A more detailed document describing the library structure and the computations performed to retrieve forces and torques is available here (pdf - draft july 2010).

Here the tutorial presented in VVV10.



Incoming... :)


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...).