[openrtm-users 02708] Re: Fwd: [openrtm-beginners:00389] OpenHRP3 Questions

[Hajime SAITO]

Hello,

The advantage in using OpenHRP3 would simply be the fact that the dynamics
simulator is pretty accurate and is being actively used for humanoid robot
control. Other advantages that derive from this are that you have other
useful things like collision detection and collision force calculation
ready prepared, and forward kinematics pretty much out of the box. I think
the force calculation is pretty good now compared to OpenHRP2 so it should
help in gait generation.

Inverse kinematics is available but uses recursion so using it in real-time
can be tricky, but using Rosen's OpenRAVE you can generate C++ code that
can give you an analytic solution, and this can be plugged into OpenHRP.
The problem is that the tutorial is yet to be written.

The other advantage to using OpenHRP in combination with OpenRTM is that
the real-time aspects are actually dealt with. I don't think ROS claims
real-time, although a lot of applications require it to some degree or the
other. With gait control I think real-time a definite requirement, however
if you use a static gait, then real-time can also be avoided.

The bridge to ROS adds the possibility to use planning, vision and various
other ROS components but as you mentioned you aren't interested in this
yet...

Best regards,

Hajime



2012/11/12 Ando Noriaki <n-ando ＠ aist.go.jp>

> 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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> openrtm-beginners ＠ openrtm.org
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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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