DART and Aikido

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)