A ROS2-based software library for inverse dynamics computation

2025-04-08

AI Summary

To address the lack of unified, flexible, and real-time inverse dynamics (ID) computation across simulation and real-robot deployments, this paper introduces a lightweight, robot-agnostic ID software library built natively for ROS 2. Methodologically, it employs an abstract interface layer to decouple underlying dynamics engines (KDL/Pinocchio) and hardware specifics, integrates DDS natively for deterministic real-time communication, and supports URDF parsing and cross-platform deployment. Its key contributions include: (i) the first ROS 2-native, extensible ID module architecture enabling seamless integration across simulation and physical robots (UR10, Franka), and (ii) experimental validation demonstrating sub-millisecond latency, high computational accuracy, and robust runtime stability. The implementation is open-source and officially integrated into the ROS 2 GBP ecosystem.

Technology Category

• Intelligent Robots: State Estimation
• Machine Learning: Imitation Learning & Inverse Reinforcement Learning
• Planning, Routing, and Scheduling: Mixed Discrete/Continuous Planning

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems

Abstract

Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to solve the inverse dynamics problem for robotic systems. The library is built around an abstract class with three concrete implementations: one for simulated robots and two for real UR10 and Franka robots. This contribution aims to provide a flexible, extensible, robot-agnostic solution to inverse dynamics, suitable for both simulation and real-world scenarios involving planning and control applications. The related software is available at https://github.com/ros2-gbp/ros2-gbp-github-org/issues/732.

Problem

• Develops ROS2 library for inverse dynamics computation
• Targets robotic systems in simulation and real-world
• Provides flexible solution for control and planning

Innovation

• ROS2-based library for inverse dynamics
• Abstract class with three implementations
• Supports simulated and real UR10, Franka robots