What kind of algorithm is used for the inverse dynamics computation? Is there any citable source for the algorithm description?
Official Python bindings with a focus on reinforcement learning and robotics.
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- Erwin Coumans
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The computation of the joint space inertia (mass) matrix matrix is using the Composite Rigid Body Algorithm.
The inverse dynamics calculation uses the Recursive Newton-Euler Algorithm (RNEA), proposed for use in robotics by Walker and Paul in 1980 in "On-line computational scheme for mechanical manipulators"// The algorithm is essentially an implementation of "method 3"
// in "Efficient Dynamic Simulation of Robotic Mechanisms" (Walker and Orin, 1982)
// (Later named "Composite Rigid Body Algorithm" by Featherstone).