 | Darwin2KDarwin2K is a free, open-source toolkit for robot simulation and automated design. |
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Darwin2K Description
Darwin2K is a free, open-source toolkit for robot simulation and automated design. 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.Here are some key features of "Darwin2K":· Simulation capabilities · Kinematic simulation· Dynamic simulation (forward and inverse), including simulation closed kinematic chains, joint limits, and limited contact· Modular simulator architecture allows simulation components to be activated and configured at runtime. · Collision detection· Estimation of link deflection· Several robot control algorithms, including PID joint control, Jacobian (Singularity-Robust Inverse) control, and SRI with dynamics for free-flying manipulators · Robots can be built at runtime from parameterized modules, and new module types can be added.· Modules can use components from a database that includes motors and gearheads from Maxon, and harmonic drives from HD Systems· OpenGL and OpenInventor display drivers · Automated synthesis · Distributed evolutionary algorithm can synthesize and optimize robot kinematics (topology and dimensions), dynamics, components, and controller parameters with respect to multiple user-selected performance metrics· Robot performance is assessed through simulation· Scope of synthesizer can be restricted by partially specifying robot parameters and/or topology · Allows coarse-to-fine synthesis· Easily incorporate a-priori knowledge in designs· Simple interface for specifying multiple metrics and criteriaRequirements:· X windows· OpenGL, MesaGL, or OpenInventor· xforms· perl >= 5What's New in This Release:· Bug fixes· Added joint modules with 2-stage gearheads· Fixed dependencies in header files· roverController2 is working· Added ability to use Featherstone dynamics algorithm· Added demos· Multiple configurations are supported by darwin2k, not just dyno
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