Dear Users (please excuse me if this post is not created in an appropriate group and I want admins to move it to a better group.)

I am currently working on my thesis entitled “Improving trajectories of a biped using Force/Position Control method for successful locomotion on rough terrains”. I want to use OpenHRP as a simulation software in order to design and developing controller. I downloaded and installed the software on Windows 7 and then I created a simple model of 7 link planar biped successfully. However I had some difficulties running the simulation. I followed all of the instructions that you provided in the OpenHRP website (eg. providing files angle.dat, vel.dat and PDGain.dat , using batch file to generate the skeleton, and editing header and source files and generating dll and exe files) but when I run the simulation, I got this message:

Can't connect to the controller(SimplePDController). Wait more seconds?

I pressed the No button and it says: Failed to initialize controller. please see the process manager view.

in the process manager view I got following two lines in red color: [SimplePDController:E] Load failed. [SimplePDController:E] openhrp-controller-bridge: RTC instance name must be specified in a connection option

so I decide to create this post to get your help in this matter. I also upload all the model, project and controller files here. http://www.mediafire.com/?bboylamj89k6pss (I moved all the solution and project files which used for generating exe and dll files to SimplePD/src folder.)

any help would greatly appreciate.