[openrtm-users 02705] Fwd: [openrtm-beginners:00389] OpenHRP3 Questions

[Ando Noriaki]

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,

--
Luís Filipe Rossi
Electrical Engineer
Biomechatronics Lab. / Grupo de Sensores Integráveis e Sistemas
Escola Politécnica
Universidade de São 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