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An ODE and Robotics Related Site by Kosei Demura (Profile)

I. About Me

My name is  Kosei Demura. I am an adviser of the RoboCup team in Yumekobo (Factory for Dreams and Ideas) at Kanazawa Insitute of Technology (KIT) in Japan, and also a professor in the Dapartment of Robotics, KIT.  More detail, please click here.

II. An ODE Related Book

I wrote an Open Dynamics Engine (ODE) related book in Japanese. Please visit the following page, you can watch simulation videos like the right sidebar (Click it !) and download sample programs such as a wheeled (differential and omni) robot, a robot arm and a 4 legged robot. 

• An ODE related Book: Robot Simulation – Robot programming with ODE

The book will be translated into Korean, and it will be published by HongReung Science Publishing Company.

III. ODE Tutorials

I wrote 15 ODE tutorials in Japanese. The following articles are mainly translated by a machine (the google translate). So, there might be many difficulties  to read them.  Anyway, enjoy my translated articles and sample programs.

Lesson	Title	Abstract	Screenshot
1	What is ODE	Open Dynamics Engine (ODE) is an open source physics engine. Overview and features of ODE are described.
2	Install and Build	How to setup the development environment and how to install ODE. In addition, how to build your own program is also explained.
3	Hello  Physics    World !	Typical ODE simulation code is shown and first sample program, free fall, is explained.
4	3D Graphics	Drawstuff, a simple 3D graphics library to show ODE demos, is explained.
5	Body and Geometry	A Rigid body for dynamics and a geometry for collision detection are explained.
6	Collision Detetion	Collision detection is explained.
7	Joint	A joint is explained. A joint is a constraint to restrict positons and orientations of two bodies.
8	ERP and CFM	ERP (Error Reduction Parameter) and CFM (Constraint Force Mixing) are explained. These two parameters are very important for ODE.
9	Position and Orientation	Coordinate system, the unit system, a positoin and an orientation of rigid bodies are explained.
10	Velocity and Acceleration	Velocity and acceleration are explained.
11	Force and Torque	Force and torque are explained.
12	Friction	Friction is explained. ODE friction model is an approximation of the coulomb friction.
13	Making a robot arm	Let’s make a robot arm using the learned knowledge of ODE.
14	Speed-Up	In order to speed up the simulation, a simulation method without using drawstuff is explained.
15	Interative Simulation	Let’s make an interactive simulation. Learn how to use a keyboard and restart a simulation.

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