# The Pinocchio C++ library : A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives

> Research article (2019 IEEE/SICE International Symposium on System Integration (SII), 2019) · cited 343× · AI/ML

**Wikidata**: [openalex:W2906487027](https://www.wikidata.org/wiki/openalex:W2906487027)  
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