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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


  • Some tutorial examples are available in the iCub repository, in: icub\main\src\libraries\iDyn\tutorials



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.


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...).