Darwin2K is a free, open-source toolkit for robot simulation and automated design. It features numerous simulation capabilities and an evolutionary algorithm capable of automatically synthesizing and optimizing robot designs to meet task-specific performance objectives.
Here are some key features of “Darwin2K”:
· Simulation capabilities
· Kinematic simulation
· Dynamic simulation (forward and inverse), including simulation closed kinematic chains, joint limits, and limited contact
· Modular simulator architecture allows simulation components to be activated and configured at runtime.
· Collision detection
· Estimation of link deflection
· Several robot control algorithms, including PID joint control, Jacobian (Singularity-Robust Inverse) control, and SRI with dynamics for free-flying manipulators
· Robots can be built at runtime from parameterized modules, and new module types can be added.
· Modules can use components from a database that includes motors and gearheads from Maxon, and harmonic drives from HD Systems
· OpenGL and OpenInventor display drivers
· Automated synthesis
· Distributed evolutionary algorithm can synthesize and optimize robot kinematics (topology and dimensions), dynamics, components, and controller parameters with respect to multiple user-selected performance metrics
· Robot performance is assessed through simulation
· Scope of synthesizer can be restricted by partially specifying robot parameters and/or topology
· Allows coarse-to-fine synthesis
· Easily incorporate a-priori knowledge in designs
· Simple interface for specifying multiple metrics and criteria
Requirements:
· X windows
· OpenGL, MesaGL, or OpenInventor
· xforms
· perl >= 5
What’s New in This Release:
· Bug fixes
· Added joint modules with 2-stage gearheads
· Fixed dependencies in header files
· roverController2 is working
· Added ability to use Featherstone dynamics algorithm
· Added demos
· Multiple configurations are supported by darwin2k, not just dyno