[openrtm-users 02709] Re: Fwd: [openrtm-beginners:00389] OpenHRP3 Questions

[Kei Okada]

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 <n-ando ＠ aist.go.jp> 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 <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
>
>
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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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