RoKi RoKi - Robot Kinetics library
is a software library for robot kinetics computation including:

  • forward kinematics
  • velocity and acceleration analysis
  • inverse dynamics
  • inverse kinematics
  • forward dynamics
  • collision detection and contact dynamics

It facilitates on-line robot controls as well as off-line robot motion analyses, plannings and simulations.

RoKi requires CURE, ZM and Zeo. RoKi-GL requires RoKi and ZX11 in addition to OpenGL.

Download

The latest version
RoKiroki-1.0.0a.tgz02/24/2016
RoKi-GLroki-gl-1.0.0-beta5.tgz05/04/2015
Older versions
RoKiroki-1.0.0.tgz07/14/2015
RoKiroki-1.0.0-beta6.tgz05/22/2015
RoKiroki-1.0.0-beta5.tgz05/04/2015
RoKiroki-1.0.0-beta4.tgz05/01/2015
RoKiroki-1.0.0-beta3.tgz04/16/2015
RoKi-GLroki-gl-1.0.0-beta4.tgz05/01/2015
RoKi-GLroki-gl-1.0.0-beta3.tgz04/16/2015

Tutorial

will be open soon eventually.

Application gallery

  • Robot motion editor
  • Animation viewer
  • Pathplanning software
  • Biped motion controller testbed
  • Dynamics simulator

Contact

milib-inquiry[at]mi.ams.eng.osaka-u.ac.jp
accepts any questions, requests and reports.

milib-user-ml[at]mi.ams.eng.osaka-u.ac.jp
provides useful information for library users.

milib-devel-ml[at]mi.ams.eng.osaka-u.ac.jp
is for developer's communications.

If you'd like to join milib-user-ml or milib-devel-ml, send a request to
milib-admin-ml[at]mi.ams.eng.osaka-u.ac.jp

Copyright (C) Motor Intelligence Lab, Osaka University Since 2010