stack-of-tasks/tsid

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

What it solves

TSID provides a way to calculate the necessary joint torques for a robot to achieve specific movements or tasks, solving the problem of inverse dynamics control for complex multi-body systems.

How it works

It is a C++ library that uses optimization-based inverse dynamics. It leverages the Pinocchio rigid multi-body dynamics library to model the robot's physical properties and calculate the optimal control inputs required to perform a task.

Who it’s for

Robotics engineers and researchers working with robot manipulators, humanoids, or quadrupeds who need precise torque control.

Highlights

  • C++ core with Python bindings for easier prototyping.
  • Integration with the Pinocchio dynamics library.
  • Support for a wide variety of robot types, including humanoids and quadrupeds.
  • Optimization-based approach to handle complex constraints and tasks.

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