Darwin2K iconDarwin2K 0.91

Darwin2K is a free, open-source toolkit for robot simulation and automated design.
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


X windows
OpenGL, MesaGL, or OpenInventor
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

last updated on:
November 6th, 2007, 15:54 GMT
developed by:
Chris Leger
license type:
GPL (GNU General Public License) 
ROOT \ Science and Engineering \ Artificial Intelligence


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