Code of my Master Thesis (can be found in docs and it is written in Spanish).
I studied the equation of motion of a humanoid robot. It relates the torques that appear in the robots joints with their accelerations, taking into account the masses, inertias and kinematic model of the robot.
I implemented several algorithms to obtain the forward and inverse dynamics using the Featherstone's approach of spatial algebra.
For more information please visit my blog or my youtube channel.