Read Me

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 Institute of  Technology (KIT) in Japan, and also a professor in the Department 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 omnidirectional) robot, a robot arm and a 4 legged robot.

The book was translated into Korean, and was published by HongReung Science Publishing Company in 2009.

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 set up 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 the first sample program, free fall, is explained. The red ball free-fall
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 Detection

Collision detection is explained.
7

Joint

Joint is explained that is a constraint to restrict positions 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 position 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, the simulation method without using Drawstuff is explained.
15

Interactive
Simulation

Let’s make an interactive simulation. Learn how to use a keyboard and restart a simulation.
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