[openrtm-beginners:00389] OpenHRP3 Questions

[Luis Filipe Rossi]

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,

-- 
Luís Filipe Rossi
Electrical Engineer
Biomechatronics Lab. / Grupo de Sensores Integráveis e Sistemas
Escola Politécnica
Universidade de São Paulo
Cel. +55 (11) 7662-9234
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://www.openrtm.org/pipermail/openrtm-beginners/attachments/20121109/ee6a2db2/attachment-0001.html>