DART and Aikido

DART is maintained by the University of Washington Personal Robotics Lab and the Open Source Robotics Foundation (OSRF).

I previously was a regular contributor to the Dynamic Animation and Robotics Toolkit (DART), a library that provides data structures and algorithms for kinematic and dynamic applications in robotic and computer animation. I also started Aikido, a library that extends DART with higher-level motion planning and ROS integration.

My contributions include: