SeqIKPy: a Python package for inverse kinematics in insects
Open accessAbstract
SeqIKPy v1.1.0 — Parallel processing and new examples This is the JOSS publication release of SeqIKPy. It introduces parallel execution to accelerate inverse and forward kinematics, along with new examples, benchmarks, and updated documentation. Highlights Parallel processing: Optional parallelization over kinematic chains and time via n_workers and parallel_over_time, with adaptive task sizing (see the related tutorial here). New benchmark example: example_leg_inv_kinematics_parallel.py compares serial and parallel execution and reports timing results. Updated examples: Consolidated pipeline demos for leg, head, and full-body workflows (example_entire_pipeline.py, example_leg_inv_kinematics.py). New model example: Mouse forelimb kinematics demo (see the related tutorial here). Documentation: Added a parallel-processing tutorial and updated paper.md with implementation and benchmark details. Compatibility Non-breaking release; serial behavior is preserved when n_workers=1.
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Evidence for each of these control approaches has been found across species, motivating their application toward robotic motor control.
“Evidence for each of these control approaches has been found across species 58,59,60,61 , motivating their application toward robotic motor control 62,63 .”
From NeuroMechFly v2: simulating embodied sensorimotor control in adult Drosophila (2024) · cites this paper as [60]
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NeuroMechFly v2: simulating embodied sensorimotor control in adult Drosophila
Wang-Chen, S., Stimpfling, V. A., Lam, T. K. C., Özdil, P. G., Genoud, L., Hurtak, F., & Ramdya, P. (2024) · Nature Methods · doi:10.1038/s41592-024-02497-y · Cited by 43 · see citing works
Self-citation
- Authors
- Özdil, P. G., Wang-Chen, S., Ning, C., Ijspeert, A., & Ramdya, P.
- Affiliations
- École Polytechnique Fédérale de Lausanne (CH)
- École Polytechnique Fédérale de Lausanne
- Venue
- Zenodo
- Publisher
- Zenodo
- Published
- 2025-12-21
- OpenAlex
- W6930417676
- Cited by
- 2
- References
- 0
- Citations by year
- 2024: 2
- Type
- software paper
- Language
- en
- Open access
- green
- doi.org
- Locations
- Zenodo (CERN European Organization for Nuclear Research) (cc-by)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Biomedical Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Control and Systems Engineering › Human Motion and Animation
- Keywords
- inverse kinematics, forward kinematics, insect locomotion, legged robots, parallel computing, Python library, kinematic chains, benchmarking
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Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
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