[openrtm-users 02707] Re: Fwd: [openrtm-beginners:00389] OpenHRP3 Questions

[Kensuke Harada]

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
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-- 
Kensuke Harada, Dr., Eng.
Vision and Manipulation Research Group, Intelligent Systems Research
Institute
National Institute of Advanced Industrial Science and Technology (AIST)
E-mail: kensuke.harada ＠ aist.go.jp
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