Pinocchio Golf Model Repository

Rigid body dynamics models using Pinocchio for golf swing analysis

Pinocchio Golf Model Repository

Rigid body dynamics and kinematics models using Pinocchio for golf swing analysis. Includes forward/inverse dynamics, Jacobian computations, and constraint handling for multibody systems in golf biomechanics.

Overview

This repository implements golf swing models using Pinocchio, a fast and flexible implementation of rigid body dynamics algorithms. Pinocchio provides efficient algorithms for robot dynamics and kinematics, based on Roy Featherstone's "Rigid Body Dynamics Algorithms." The models enable efficient computation of forward and inverse dynamics for golf swing analysis.

Features

Fast Dynamics: Efficient forward and inverse dynamics computation
Jacobian Computation: Tools for computing kinematic Jacobians
Constraint Handling: Support for constrained multibody systems
Analytical Derivatives: Automatic differentiation capabilities
Optimization: Integration with optimization frameworks

Repository Access

The Pinocchio rigid body dynamics golf models and algorithms are hosted in the UpstreamDrift repository:

View on GitHub →(opens in a new tab)

Clone with Git:
git clone https://github.com/D-sorganization/UpstreamDrift.git

Related Resources

This repository is closely related to the Pinocchio Models page, which includes links to Roy Featherstone's website, his classic text "Rigid Body Dynamics Algorithms," and additional software resources. Pinocchio is developed by the Stack of Tasks team and is particularly useful for robotics applications requiring fast dynamics computations. Explore the implementation in the UpstreamDrift repository(opens in a new tab).