Related Projects

Many robotics libraries exists. Add your favourite to this category.

Miscellaneous links

  1. darwin2k: Darwin2K is a free, open-source toolkit for robot simulation and automated design. It features numerous simulation capabilities and an evolutionary algorithm capable of automatically synthesizing and optimizing robot designs to meet task-specific performance objectives.
  2. VXL. (formerly named "TargetJr"): initiative for vision research, similar to Orocos in the sense that it is (nothing more than) a set of libraries with
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Geometry - Visualization links

  1. Blender, a very advanced 3D computer animation package. MakeHuman is a plug-in for Blender, to model and move human figures.
  2. SOLID is a software library for collision detection of geometric objects in 3D space.
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Graphs - FSM - Component diagrams links

  1. FlowDesigner (was previously named Overflow), C++ framework for graphical building of components. It has a robotics component, RobotFlow. In the same set of projects, Marie is the newest, working towards ACE + CORBA as platform.
  2. boost::fsm,
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Communication - Distribution links

  1. CORBA is not a software implementation, but a specification. Several Open Source implementations exist; GNOME uses ORBit; another one (more extended, but with larger memory requirements and slower execution) is TAO.
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Bayes links

  1. Open Bayes for Python is a free and open source Bayesian Network library.
  2. Software for Probabilistic Analysis, Storage, and Manipulation (SPASM) s a templatised C++ library for the storage and manipulation of a variety of probabilistic representations. Represenationtations currently considered are: Gaussian, Gaussian Mixtures, Parzen density Estimates, Particles and Discrete grids.
  3. Deal, (Learning
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Physics links

  1. Open Dynamics Engine (ODE), DynaMechs, EasyDyn, MBDyn: libraries and programs for simulation of multibody dynamics. MBDyn also has a realtime sub-project here.
  2. mjbWorld is a program for 3D simulation of dynamics.
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Computation links

  1. Octave and Scilab (tried to make a GPL-like license, but didn't really succeed...), both built on top of the original FORTRAN code (through some C and C++ wrappers) from Netlib (public domain). (Netlib is where most other matrix libraries, including Matlab, got their inspiration too.)
  2. Matrix and Quaternion FAQ, with lots of useful facts and algorithms for
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Motion control and planning links

  1. LinuxCNC (formally known as EMC, Enhanced Machine Controller). The project has developed already a lot of functionality, targeted at machine tools hobbyists. Axis is a graphical programming interface on top of EMC, for traditional G-code based milling.
  2. The NIST RS274NGC Interpreter, a C++ library and language specification for a G-code "dialect".
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Real-time control and data acquisition links

  1. RTAI, Xenomai, RT-Linux/GPL, Ecos, RTEMS, Ethernut. The latter three are non-Linux operation systems, targeted at small footprint embedded systems (e.g., without memory management unit, TCP/IP stack or file system); Ethernut is even meant for 8bit computers.
  2. Some control toolbox environments for Linux:
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Biomechanics links

  1. BodyMech, a GPL-licensed set of Matlab files for the 3D kinematic analysis of motion capture data.
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