ARDL - A Library for Adaptive Robotic Dynamics Learning

Dynamics learning and adaptive control algorithms have received a lack of support from robot dynamics libraries over the years. Only a few existing libraries like Pinocchio implement the standard regressor for basic model learning. In this work we introduce an open-source dynamics library specifically designed to provide support for dynamics learning and online adaptive control algorithms. Alongside established kinematics and dynamics computations, our new dynamics library provides computation for the standard, the Slotine-Li and the filtered regressor matrices found in adaptive control algorithms. We demonstrate the library through several existing adaptive control algorithms, alongside a new online simultaneous Semi-Parametric model using a Radial Basis Function Neural Network augmented with a newly derived consistency transform.