Lead developer / Nov 2012 - present
DART (Dynamic Animation and Robotics Toolkit) is a collaborative, cross-platform, open source library created by the Georgia Tech Graphics Lab and Humanoid Robotics Lab. The library provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation. DART is distinguished by its accuracy and stability due to its use of generalized coordinates to represent articulated rigid body systems and Featherstone’s Articulated Body Algorithm to compute the dynamics of motion. [GitHub]
Jeongseok Lee, Michael X. Grey, Sehoon Ha, Tobias Kunz, Sumit Jain, Yuting Ye, Siddhartha S. Srinivasa, Mike Stilman, C. Karen Liu, “DART: Dynamic Animation and Robotics Toolkit,” The Journal of Open Source Software, vol. 3, no. 22, p. 500, Feb. 2018. [JOSS]
DART won the Grand Prize of the Open Source Software World Challenge 2016!
Contributor / Jan 2016 - 2018
AIKIDO is a C++ library, complete with Python bindings, for solving robotic motion planning and decision making problems. This library is tightly integrated with DART for kinematic/dynamics calculations and OMPL for motion planning. AIKIDO optionally integrates with ROS, through the suite of aikido-ros component, for execution on real robots. [GitHub]
Contributor / Mar 2015 - 2018
FCL is a library for performing three types of proximity queries on a pair of geometric models composed of triangles.
[GitHub]
Contributor / Mar 2007 - Feb 2013
srLib (SNU Robotics Library) is a simulation library for rigid multi-body dynamics, developed at Robotics Lab in Seoul National University. Thanks to its flexibility, various modern robot platforms can be modeled and simulated using this library without any deep knowledge of dynamics. Primitive geometries, joints, actuation method, and sensors are included. [GitHub]
Contributor / Mar 2007 - Sep 2011
R-Station is a comprehensive robot simulation environment that supports a wide range of applications, from designing new robot platforms, to testing novel motion planning and control algorithms.