Hi,I think that you had better ask this question at the OpenHRP web site. 

First question. What advantage do i get using OpenHRP3 with ROS in
special regarding gate control?

Many researchers are developing several application software such as walking pattern generator and motion planner on OpenHRP. I think that, 
if you consider developing such software, OpenHRP would be a good platform. However, the walking pattern generator is not included in the source package. 
 

Second question. I got a bit confused with the documentation on the
OpenHRP3 website. I was able to create a controller and control a
model however there are several topics that do not explain if they are
related to a controller or just creating a simulation environment (as
the Forward Kinematics and Inverse Kinematics one). Is there any place
that i can find the source files that generated the examples? Any
better documentation or tutorial? Lets say i am programming a
controller and inside the controller i want to load the model i am
controlling to perform inverse kinematics. Is that possible? When i
load a body is it automatically included at my simulation or can i
just use it as a data base to perform calculation?

You can refer http://www.openrtp.jp/openhrp3/en/calc_model_3_1.html
Or, you can check the sample code of move_ankle.  

Third question, how do you guys generated the SamplePD joint positions
and Velocities? ZMP based? Could you guys describe the algorithm used?

You have to prepare your own walking pattern generator. Best,
 

Any help would be appreciated.

Best regards,

--
Lu «¿s Filipe Rossi
Electrical Engineer
Biomechatronics Lab. / Grupo de Sensores Integr «¡veis e Sistemas
Escola Polit «±cnica
Universidade de S ǻo Paulo
Cel. +55 (11) 7662-9234

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--
Noriaki Ando, Ph.D.
    Senior Research Scientist, RT-Synthesis R.G., ISRI, AIST
    AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568 JAPAN
    e-mail: n-ando@aist.go.jp, web: http://staff.aist.go.jp/n-ando
    OpenRTM-aist: http://www.openrtm.org
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-- Kensuke Harada, Dr., Eng.Vision and Manipulation Research Group, Intelligent Systems Research InstituteNational Institute of Advanced Industrial Science and Technology (AIST)
E-mail: kensuke.harada@aist.go.jp

Hello,The advantage in using OpenHRP3 would simply be the fact that the dynamics simulator is pretty accurate and is being actively used for humanoid robot control. Other advantages that derive from this are that you have other useful things like collision detection and collision force calculation ready prepared, and forward kinematics pretty much out of the box. I think the force calculation is pretty good now compared to OpenHRP2 so it should help in gait generation.
Inverse kinematics is available but uses recursion so using it in real-time can be tricky, but using Rosen's OpenRAVE you can generate C++ code that can give you an analytic solution, and this can be plugged into OpenHRP. The problem is that the tutorial is yet to be written.
The other advantage to using OpenHRP in combination with OpenRTM is that the real-time aspects are actually dealt with. I don't think ROS claims real-time, although a lot of applications require it to some degree or the other. With gait control I think real-time a definite requirement, however if you use a static gait, then real-time can also be avoided.
The bridge to ROS adds the possibility to use planning, vision and various other ROS components but as you mentioned you aren't interested in this yet...Best regards,
Hajime2012/11/12 Ando Noriaki <n-ando@aist.go.jp>

Is there anyone who can answer to this question?
Probably JSK has some experience bridging between OpenHRP3 and ROS :-)

Best regards,
Noriaki Ando

---------- Forwarded message ----------
From: Luis Filipe Rossi <luisf.rossi@gmail.com>
Date: 2012/11/9
Subject: [openrtm-beginners:00389] OpenHRP3 Questions
To: openrtm-beginners@openrtm.org

Hello,

I am not sure if this list is the most appropriated to ask questions
related to OpenHRP3. If not, could you please give me this
information?

My PHd Thesis is related to biped robot gate control, so i am not much
interested for now in image processing and path planning. Basically
all i need is a good Dynamic Simulation Tool for biped robots and
OpenHRP3 seems to be the most accurate option so far (maybe gazebo in
the future due to the DRC).

First question. What advantage do i get using OpenHRP3 with ROS in
special regarding gate control?

Second question. I got a bit confused with the documentation on the
OpenHRP3 website. I was able to create a controller and control a
model however there are several topics that do not explain if they are
related to a controller or just creating a simulation environment (as
the Forward Kinematics and Inverse Kinematics one). Is there any place
that i can find the source files that generated the examples? Any
better documentation or tutorial? Lets say i am programming a
controller and inside the controller i want to load the model i am
controlling to perform inverse kinematics. Is that possible? When i
load a body is it automatically included at my simulation or can i
just use it as a data base to perform calculation?

Third question, how do you guys generated the SamplePD joint positions
and Velocities? ZMP based? Could you guys describe the algorithm used?

Any help would be appreciated.

Best regards,

--
Lu «¿s Filipe Rossi
Electrical Engineer
Biomechatronics Lab. / Grupo de Sensores Integr «¡veis e Sistemas
Escola Polit «±cnica
Universidade de S ǻo Paulo
Cel. +55 (11) 7662-9234

_______________________________________________
openrtm-beginners mailing list
openrtm-beginners@openrtm.org
http://www.openrtm.org/mailman/listinfo/openrtm-beginners

--
Noriaki Ando, Ph.D.
    Senior Research Scientist, RT-Synthesis R.G., ISRI, AIST
    AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568 JAPAN
    e-mail: n-ando@aist.go.jp, web: http://staff.aist.go.jp/n-ando
    OpenRTM-aist: http://www.openrtm.org
_______________________________________________
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Hi,

I posted a replay to here
https://groups.google.com/forum/?fromgroups=#!topic/rtm-ros-robotics/Trj9l-_tEYM

On Mon, Nov 12, 2012 at 10:33 AM, Ando Noriaki wrote:
> Is there anyone who can answer to this question?
> Probably JSK has some experience bridging between OpenHRP3 and ROS :-)
>
> Best regards,
> Noriaki Ando
>
>
>
>
> ---------- Forwarded message ----------
> From: Luis Filipe Rossi
> Date: 2012/11/9
> Subject: [openrtm-beginners:00389] OpenHRP3 Questions
> To: openrtm-beginners@openrtm.org
>
>
> Hello,
>
> I am not sure if this list is the most appropriated to ask questions
> related to OpenHRP3. If not, could you please give me this
> information?
>
> My PHd Thesis is related to biped robot gate control, so i am not much
> interested for now in image processing and path planning. Basically
> all i need is a good Dynamic Simulation Tool for biped robots and
> OpenHRP3 seems to be the most accurate option so far (maybe gazebo in
> the future due to the DRC).
>
> First question. What advantage do i get using OpenHRP3 with ROS in
> special regarding gate control?
>
> Second question. I got a bit confused with the documentation on the
> OpenHRP3 website. I was able to create a controller and control a
> model however there are several topics that do not explain if they are
> related to a controller or just creating a simulation environment (as
> the Forward Kinematics and Inverse Kinematics one). Is there any place
> that i can find the source files that generated the examples? Any
> better documentation or tutorial? Lets say i am programming a
> controller and inside the controller i want to load the model i am
> controlling to perform inverse kinematics. Is that possible? When i
> load a body is it automatically included at my simulation or can i
> just use it as a data base to perform calculation?
>
> Third question, how do you guys generated the SamplePD joint positions
> and Velocities? ZMP based? Could you guys describe the algorithm used?
>
> Any help would be appreciated.
>
> Best regards,
>
> --
> Lu «¿s Filipe Rossi
> Electrical Engineer
> Biomechatronics Lab. / Grupo de Sensores Integr «¡veis e Sistemas
> Escola Polit «±cnica
> Universidade de S ǻo Paulo
> Cel. +55 (11) 7662-9234
>
>
> _______________________________________________
> openrtm-beginners mailing list
> openrtm-beginners@openrtm.org
> http://www.openrtm.org/mailman/listinfo/openrtm-beginners
>
>
>
> --
> Noriaki Ando, Ph.D.
> Senior Research Scientist, RT-Synthesis R.G., ISRI, AIST
> AIST Tsukuba Central 2, Tsukuba, Ibaraki 305-8568 JAPAN
> e-mail: n-ando@aist.go.jp, web: http://staff.aist.go.jp/n-ando
> OpenRTM-aist: http://www.openrtm.org
> _______________________________________________
> openrtm-users mailing list
> openrtm-users@openrtm.org
> http://www.openrtm.org/mailman/listinfo/openrtm-users
>
> _______________________________________________
> openrtm-users mailing list
> openrtm-users@openrtm.org
> http://www.openrtm.org/mailman/listinfo/openrtm-users
>
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