Hi,<div><br></div><div>I think that you had better ask this question at the OpenHRP web site. </div><div><br></div><div><br><div class="gmail_extra"><div class="gmail_quote"><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">
First question. What advantage do i get using OpenHRP3 with ROS in<br>
special regarding gate control?<br></blockquote><div><br></div><div>Many researchers are developing several application software such as </div><div>walking pattern generator and motion planner on OpenHRP. I think that, </div>
<div>if you consider developing such software, OpenHRP would be a good </div><div>platform. However, the walking pattern generator is not included in </div><div>the source package. </div><div><br></div><div><br></div><div>
</div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">
<br>
Second question. I got a bit confused with the documentation on the<br>
OpenHRP3 website. I was able to create a controller and control a<br>
model however there are several topics that do not explain if they are<br>
related to a controller or just creating a simulation environment (as<br>
the Forward Kinematics and Inverse Kinematics one). Is there any place<br>
that i can find the source files that generated the examples? Any<br>
better documentation or tutorial? Lets say i am programming a<br>
controller and inside the controller i want to load the model i am<br>
controlling to perform inverse kinematics. Is that possible? When i<br>
load a body is it automatically included at my simulation or can i<br>
just use it as a data base to perform calculation?<br>
<br></blockquote><div><br></div><div>You can refer </div><div><br></div><div><a href="http://www.openrtp.jp/openhrp3/en/calc_model_3_1.html">http://www.openrtp.jp/openhrp3/en/calc_model_3_1.html</a><br></div><div><br></div>
<div>Or, you can check the sample code of move_ankle. </div><div><br></div><div> </div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">
Third question, how do you guys generated the SamplePD joint positions<br>
and Velocities? ZMP based? Could you guys describe the algorithm used?<br></blockquote><div><br></div><div><br></div><div>You have to prepare your own walking pattern generator. </div><div><br></div><div>Best,</div><div>
<br></div><div> </div><blockquote class="gmail_quote" style="margin:0px 0px 0px 0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">
<br>
Any help would be appreciated.<br>
<br>
Best regards,<br>
<br>
--<br>
Lu «¿s Filipe Rossi<br>
Electrical Engineer<br>
Biomechatronics Lab. / Grupo de Sensores Integr «¡veis e Sistemas<br>
Escola Polit «±cnica<br>
Universidade de S ǻo Paulo<br>
Cel. <a href="tel:%2B55%20%2811%29%207662-9234" value="+551176629234">+55 (11) 7662-9234</a><br>
<br>
<br>
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<br>
--<br>
Noriaki Ando, Ph.D.<br>
Senior Research Scientist, RT-Synthesis R.G., ISRI, AIST<br>
AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568 JAPAN<br>
e-mail: <a href="mailto:n-ando@aist.go.jp">n-ando@aist.go.jp</a>, web: <a href="http://staff.aist.go.jp/n-ando" target="_blank">http://staff.aist.go.jp/n-ando</a><br>
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<br></blockquote></div><br><br clear="all"><div><br></div>-- <br>Kensuke Harada, Dr., Eng.<br>Vision and Manipulation Research Group, Intelligent Systems Research Institute<br>National Institute of Advanced Industrial Science and Technology (AIST)<br>
E-mail: <a href="mailto:kensuke.harada@aist.go.jp">kensuke.harada@aist.go.jp</a><br>
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