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.

Aikido

My contributions include:

Trajectory representations
Trajectory executors
Trajectory smoothers
OMPL Motion Planning
Potential Field Planner
Meta-planners
Rviz Interface

DART

My contributions include:

URI Resources
MetaSkeleton concept (joint work with Michael Grey and Jeongseok Lee)
CollisionGroup interface (joint work with Michael Grey and Jeongseok Lee)