The Orocos Project - Related Projects

Miscellaneous links

sspr — Tue, 31 Oct 2006 10:28:17 +0000

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.
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

sspr — Tue, 31 Oct 2006 10:27:37 +0000

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

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Graphs - FSM - Component diagrams links

sspr — Tue, 31 Oct 2006 10:26:59 +0000

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.
boost::fsm,

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Communication - Distribution links

sspr — Tue, 31 Oct 2006 10:26:06 +0000

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

sspr — Tue, 31 Oct 2006 10:24:45 +0000

Open Bayes for Python is a free and open source Bayesian Network library.
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.
Deal, (Learning

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Physics links

sspr — Tue, 31 Oct 2006 10:24:11 +0000

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

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Computation links

sspr — Tue, 31 Oct 2006 10:23:14 +0000

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.)
Matrix and Quaternion FAQ, with lots of useful facts and algorithms for

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Motion control and planning links

sspr — Tue, 31 Oct 2006 10:22:23 +0000

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.
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

sspr — Tue, 31 Oct 2006 10:21:26 +0000

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.
Some control toolbox environments for Linux:

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Biomechanics links

sspr — Tue, 31 Oct 2006 10:20:25 +0000

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