englishの最近のブログ記事

Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for strange and funny English from "the Chinese room".

The ODE book, Robot simulation - Robot programming with Open Dynamics Engine ", C language and the physical calculation engine ODE of free (Open Dynamics Engine) you use, targetting the reader robot engineering has not been learned, the foundation of robot engineering you learn the method of programming that gradually. Necessary knowledges are mathematics of high school and C language of beginners' class level.

The lesson begins from falling of the apple, the wheel type robot, the robot arm, 4 leg robots and step-up to the lovely humanoid robot, Kensei-chan. Making a dynamics walking program is the last mission.

In the ODE book, you can learn how to make simulators which used 3D graphics shown above (they are all simulations in ODE book) and you can also learn the basic of robotics. A physics engine like ODE in order real to make the game, has becoming indispensable. It means that knowledge of robotics are necessary for a game developper. Don't you try control robots in the virtual space?

Kosei Demura
An AIBO, a humanoid robot for RoboCup, and me.
(Copyright: The Hokkoku Shinbun, 2007)

Welcome to my web site Smile .

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.

RoboCup is one of the dream projects such as  Project Apollo.  

The dream of RoboCup is as follows.

By mid-21st century, a team of fully autonomous humanoid robot soccer players shall win the soccer game, comply with the official rule of the FIFA, against the winner of the most recent World Cup. (quoted from the RoboCup official site)

Our RoboCup team, WinKIT,  has been participated in the Middle Size Robot League (MSL) in RoboCup since 1999. We are 3 times Vice World Champion from 2002 to  2004, and the Japan Champion in 2003.

From 2007, our team,  the demura.net team,  was participated in the humanoid league in RoboCup Japan Open.  Next year, we will plan to participate in the humanoid league in the RoboCup World Championship held in Suzhou, China.

I place RoboCup to a nucleus of my research and education. I would like to continue making a small step towards the RoboCup dream.

Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for strange and funny English from "the Chinese room".

  Open Dynamics Engine
  A virtual humanoid robot "Kensei-Chan" 

I introduce my ODE related book , "Robot Simulation - Robot programming with   Open Dynamics Engine , (260pages, ISBN:978-4627846913, Morikita Publishing Co. Ltd., Tokyo, 2007)" by Kosei Demura, which is written in Japanese (sorry).

There are a lot of good text books about Robotics, such as, "Robotics - Vector Analysis of Mechanical System- (SHOKABO)" by Prof. Hirose, "Introduction to ROBOTICS - mechanics and control (Addison- Wesley) "  by Dr. John J. Craig, and so  on.

In addition, if the textbook regarding C programming language, many books have lined up into the book store.

So, I decided to write a textbook combine those two subjects. Open Dynamics Engine is used as the expedient to which as for this book in order fundamental theory of robotics to tie and programming organically, the money is not required and easily experiences robot programming.

This book aims that learning fundamental theory in Robotics and acuqiring the programming skill to realize that.

 Unique features are as follows.

  •  The foundation of robotics and the practice book which can acuqire the programming skill
    • Making robot sumulators, such as, wheeled robot (differential drive and omnidirectional drive), a robot arm, a 4 legged robot, a humanoid robot simulator, and  writing basic programs to control those robots. Furthermore, those programs are written in C language and can be operated under Windows, Linux and Mac OS X.
  • An ODE tutorial book
    • You can program without the ODE english user guide.
    • API index,  API inverse index are supported.
    • About half of this book, i.e., 130 pages are articles (tutorial & manual function) regarding ODE.
  • Donating One US Dollar per book sale
    • I sent some mails to Dr. Russell Smith who is the primary author of ODE.  He kindly permitted me quoting and reprinting from the Open Dynamics Engine User Guide.  If there is no ODE, this book being not to be born. Including  the sense of appreciation to Russ,  and in order to support the ODE project, I donate One US Dollar per book sale to ODE project. Morikita Publishing Co. Ltd. cooperated on this donation. In order to keep maintaining this kind of open source project,  I think that cooperation of many people is necessary. Man shall not live by bread alone, but man shall not live without bread.

I wish that a publisher would translate my book into English. 

Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for strange and funny English from "the Chinese room".


  A sample screenshot of modified texures (details on RoboCon MagazineNo.50)    

This is 19th article about ODE (Open Dynamics Engine) Tutorial. ODE is an open source physics libary, and it is widely used  in various game software, and simulators in research.

This time, I explain how to customize the drawstuff , the 3D graphics library, which has been attached to ODE with a free gift. Drawstuff being to be the very used OpenGL simple library is useful to also the study of OpenGL. You viewing one time source code, how, probably will be?

 3 kinds of textures
In the draw staff just texture of 3 types which are shown in the rough sketch is used. As for these filesusingstandard ones which are called ppm (portable pixmap) format, it is under ode-0.8/drawstuff/textures. The user does not appoint the texture of the sky and the ground, it is applied automatically, but, using dsSetTexture (DS_WOOD), it sets the texture of the object. When cancelling setting, dsSetTexture (DS_NONE) is used.

  • Texture of the sky:     Sky.ppm
  • Texture of the ground:  Ground.ppm
  • Texture of objects:  Wood.ppm

Texture of the sky 

Texture of  the ground 

Texture of objects 

Note: It has converted texture in the upper figures to jpg format in order to indicate with the browser.

 

Modification method of texture
When using the GIMP, the GNU image maniplulation program, you can save the texture file as raw (raw) mode of ppm type, and overwrite the texture file on the original texture file. The new teture becomes effective. As for size sky.ppm 128x128 pixel, ground.ppm and wood.ppm has become 256x256 pixel. 

Advanced modification
Being to be able to modify, it does, texture with this but, being boundary of the land and the sky continues to be the standard color grey a little it becomes matter of concern. In order to modify this color, it is necessary to rewrite the source code of drawstuff. Until now, the source code is rewritten, please try challenging also the one which you think that how it is awesome. The fact that the source code is customized steadily is Daigo taste of the open source.

  • The file ode-0.8/drawstuff/drawstuff.cpp which modifies
    It meaning that 1123rd line glClearColor (0.5, 0.5, 0.5, 0) has decided boundary color, when it modifies 3 arguments (red component, green component and blue component) of beginning in the color which by your like, make does again to do ode it is reflected. Each color component of glClearColor is the range up to 1 from 0 as the point where you note.
  • Sampling process of color
    If boundary color is possible, don't you think? it is to do it is potato in the same type color as the texture of the land. The software of of free color of the place where we like on the picture is extracted is found if it searches with google, simply. As for me GetColor has been used, but if you search, you think that there is a variety.
  • In order to gradate the horizon,
    In the actual world as for horizon with such as dust in the atmosphere being visible in clearing it is rare. In order to simulate this, if there is a fog, the horizon becomes blurred, don't you think?. In order to actualize this, if the comment of 1016th line is removed from the 1006th line of drawstuff.cpp, it is OK. However, there is a problem with some graphics boards.

This time with this end. 

Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for strange and funny English from "the Chinese room".

This is 18th article about ODE (Open Dynamics Engine) Tutorial. ODE is an open source physics libary, and it is widely used  in various game software, and simulators in research.

This time, I explain the method of speed up a simulation without using the drawstuff, the 3D graphics engine, which has been attached to ODE.

Drawstuff is not the portion of ODE, in a manner of speaking with free gift in order to indicate the test program, you are made OpenGL in the base. Very being simple, being to have also the source code, you think that it is the very good teaching aid where it studies OpenGL.

The method of not drawing very is simple. In the test program dsSimulationLoop is called in main function. This part to call the drawing loop, because it draws with each step of simulation and event processing from the keyboard, if this is not called, it is OK. Because there is a part where it has drawn even in simLoop function, it is necessary for there that to try does not call.

In other words, please make like below.


  • With drawing
    static void simLoop (int pause)
    {
      // Write some necessary codes here

      dSpaceCollide(space,0,&nearCallback);
      dWorldStep(world,0.01);
      dJointGroupEmpty(contactgroup);

       drawSphere(torso.geom);
    }

    int  main(int argc, char *argv[])
    {
       // omission
       dsSimulationLoop(argc, argv, 640, 480,  &fn);
        // omission
    }
  • Without drawing
    static void simLoop (int pause)
    {
      // Write some necessary codes here

      dSpaceCollide(space,0,&nearCallback);
      dWorldStep(world,0.01);
      dJointGroupEmpty(contactgroup);

      //  drawSphere(torso.geom);   // without drawing
    }

    int  main(int argc, char *argv[])
    {
        // omission
       while (1) {
               simLoop(0);  //  set the argument to 0
       }

       // omission
    }

This time with this end.

  Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for strange and funny English from "the Chinese room".

This is 17th article about ODE (Open Dynamics Engine) Tutorial. ODE is an open source physics libary, and it is widely used  in various game software, and simulators in research.

This time it explains concerning the method of moving the position of COG (center of gravity). API, dGeomSetOffsetPosition was introduced from ODE0.6, shifting the position of center of gravity extremelysimply in comparison withthe former method of usingthe Geometry Transform object whichlast year is introduced with ODE lecture reached the point where it can set.

  • API about offset the positon of geometry
Void dGeomSetOffsetPosition (dGeomID and dReal x, dReal y and dReal z);
(X, just y and z) shifting the position of dGeomID from the position of body, it sets. Before using this API, geometry must be correlated with the body. In other words, it is necessary for dGeomSetBody to be first called.

So, the tumbler in the upper figure is introduced as a sample program.Please download the source code from here.With this example, it is suitable to the body of the small priest sphere (mass 10kg and radius 0.4m) from the center of sphere under 0.4m to set center of gravity, because as for mass of the sphere which is suitable to the head there is only 1g, this small priest by all means rises. Concretely, with dBodySetPosition from the center of sphere radius amount (0.4m) shifting balance station under, it sets, that was shifted the quantity which (the offset, here dz) it has set with dGeomSetOffsetPosition.

When the f key and the j key are pushed from the keyboard, to the tumbler it can add to left and right direction the power of 100N, but being to be a restitutive force, it rises, it requires you can verify.

Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for strange and funny English from "the Chinese room".

My article, Open Dynamics Engine Petit Camp in RoboCon Magazine(No.50), finished  February 15th, 2007. This time in order the world of ODE is made to enjoy it has publishing to the color page, method of using the draw staff of attachment such as background and modification method of the texture file to main explains, concerning the control of simple biped walking.

Open Dynamics Engine, A biped robot
 A screen shot of the sample program.   The Petit Waru (evil) Biped Robot: Warusa P01

Furthermore, the SF like robot which is the upper figure as a sample program being to designate  a biped robot, Warusa P01, please read the article on RoboCon Magazine if you have interest.

Control of simple biped walking to be mounted by the program, because it can get from link below, please play freely. However, there is no warraty for  the program. It is the mere sample, you can not enjoy it like a game. The program has bugs, so please do not redistribute it. Furthermore, method of playing is not completed, but the article of  the RoboCon magazine or please see the command function in  the source code.

  • Sample program (Petit Waru Robot Simulator) download
    • Warusap070221.tgz  (with tgz compression)
    • Two files above compressed method just are different, but content are same ones.

Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for  funny and strange English from "the chinese room"


 
As for December 16, 17 in 2006, there was the year-end party of KIT at the Katayama Tsu hot spring which from Kanazawa by the car is the place about of 1 hour. At this year-end party is large-scale ones where all school personnel of KIT crowds around all. At the university this way the place where year-end party of all-campus scales is done is very much unusual, it is the unique place of KIT.

Well, No.49 of RoboCon Magazine was sold December 15th (the gold). The serialization which moves the petit version HRP-2mof HRP2 Promet where as for RoboCon Magazine the funny article was many, from No.49 was developedwith the productentire researchChorometstarted. 1st as for time Okano is written with the subject, "real time processing programming which uses ARTLinux".

My serialization time becomes 3rd. It is the story that this time as recognized even with the high school student, it explains opposite kinematics, to the kinematics which is the basis in the basis of robotics that mounts on the robot arm petit simulator, verifies operation. As for details please readRoboCon Magazine.

Furthermore, because with RoboCon Magazine the space is limited, you cannot explain in detail. In order in this page to supply that, in order to be able to download the sample program. Please download freely.


  • Note 1: These programs being something which you write as the sample program for ODE education, do in all the sample programs which it has explained with the article of  RoboCon. Downloading the program above freely, please play. However, there is no warraty for these program. It is the mere sample, you can not enjoy it like a game. The program has bugs, so please do not redistribute them.
  • Note 2: It corresponds to mingw, linux and OS X. For example makefile of your own environment (after makefile.linux) copying in makefile, make please do. Furthermore, as for original makefile being to become one for mingw as for the one which mingw is utilized as for the necessity to copy it is not.

Please ask the person who is not understood be possible in addition, to read serialization by all means in this page. We wait also thought and opinion etc..

  A World of Robot Arms, Open Dynamics Engine
A World of robot arms.

Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for  funny and strange English from "the chinese room" .


 
After Open Dynamics Engine petit camp debutting, 2 months passed, new RoboCon Magazine (No.48) was sold October 14th.

This time time it becomes serialization 2nd. Although serialization to turn and serve all 4 it does not relate, glee D (greedy) the last time because it designates that the petit simulator of 2 walking robots is made as goal, this time the wheel type robot, the petit simulator of the robot arm keeps making the next time steadily.

Because with RoboCon Magazine the space is limited, you cannot explain in detail. In order in this page to supply that, the all source code and the luxurious supplement of the sample program? 

  • Free download sample programs !
    • Program 1 (free fall: There is no collision detection)

      F
      alling down slowly. . .
    • Program 2 (free fall: There is collision detection)

      Landing to the ground
    • Program 3 (petit simulator)
      Open Dynamics Engine, RoboCup Petit Simulator
      Long Shoot !
    • Note 1: These programs being something which you write as the sample program for ODE education, are all the sample programs which it has explained with the article of RoboCon Magazine. Downloading the program above freely, please enjoy it. However, there is no warraty for these program. It is the mere sample, you can not enjoy it like a game. The program has bugs, so please do not redistribute them. 
    • Note 2: It corresponds to mingw, linux and cygwin. OS X. For example makefile of your own environment (after makefile.linux) copying in makefile, make please do. Furthermore, as for original makefile being to become one for mingw as for the one which mingw is utilized as for the necessity to copy it is not.

  • Those who fail to make
    • When executing make, [ cannot found -lode ] and the like as for the person who is gotten angry to the computer the library of ode is not installed to specified position. Please open mingw and the cygwin terminal and execute the command below.
      • cd   /home/ user name /src/ode-0.7
      • make   install

Please ask the person who is not understood be possible in addition, to read serialization by all means in this page. Also thought and opinion etc. are large welcome.

Open Dynamics Engine, RoboCup Petit Simulator

The latest eyeball is the petit simulator of the RoboCup Middle-Size Robot Leargue (MSL) league which is on. The black object where as for the red object where from the center of the picture it is visible a little on the left with the ball, there is on a center with the robot, has simulated the long chute of Fu Fighters. As for method of playing and method of download please read the article of RoboCon Magazine No.48.

  • Sample programs
    • Program 1
    • Program 2
    • Program 3
      In order with setting when starting the execution to set the camera distantly, the robot and the like is not visible well.
      The drug doing the corner of the window, when it enlarges the window, or the mouse button (the left and the right) pushes and if the drug does the picture it can modify the gaze and size etc..

  • To the one which fails in make
    • When executing make, [ -lode cannot found ] and the like as for the person who is gotten angry the library of ode is not installed to specified position. Please open mingw and the cygwin terminal and execute the command below.
      • cd   /home/ user name /src/ode-0.7
      • make   install

Most of this page was translated from http://demura.net/archives/9ode by Babel Fish Translation.
Sorry for "the chinese room"  English.


The figure above being to be proofreading stage is different from the real thing a little. As for the real thing color has not been attached, but design is refined.

  Thank you very much for reading my article, ODE petit, onRoboCon Magazine. RoboCon magazine is the most popular magazine related a robot in Japan, and about 35000 copies are printed. The readers are from elementary school students to retired engineers.  Because in the information magazine regarding the robot it is only one, the person who was not until now read RoboCon Magazine first please pass through at the propriety book store. 

Well, the short-term serialization of all the 4 times regarding the elementary rudiments of ODE was published RoboCon Magazine No.47 (the ohmic corporation, August 16th sale) from. Being linked with that, because, with this web sight in regard to circumstances of the space, we would like to keep answering to explanation and the supplementation of the place where it abbreviates the figure and the question regarding the article, as for the one which has question most please contribute to the comment field which is under. 2nd time being to keep making the petit simulator which makes the RoboCup Middle-Sized Robot simulator which is the figure above simple please expect.

So, with RoboCon Magazine being illustrated from now on, it explains the installation method of the free (free) enviroment for software development which cannot be explained in detail. Furthermore, there is also Cygwin, as the enviroment for software development of of free with Windows you can use to the UNIX like, but with the up-to-date version 0.7 of ODE it meaning that being less crowded capacity of thing and the hard disk which cannot compile the sample program is well enough necessary, with the latest serialization you use MinGW and MSYS.

Here it explains in detail with the figure and the link attachment concerning below.(Note: It meaning that ODE0.7 is released on 2006 September 8th, here it introduces the installation method of ODE0.7.)

  1. The installationof MinGW(enviroment for software development)
  2. The installationof MSYS(the system in order to utilize MinGW)
  3. The installationof ODE0.7

 

1. The installation of MinGW

  •  Http:MinGW-5.1.0.exeis downloadedfrom//prdownloads.sourceforge.net/mingw/. It is good to download from the Japanese JAIST sight, probably will be. In this case, when the logograph of JAIST is clicked by mistake, to the home page of JAIST. Clicking the letter of Download on extreme right, the suitable place (as for my recommendation c: \temp) Please download.

 

  •  When MinGW-5.1.0.exe which is in the desktop double is clicked the window below appears. Clicking Next, next it advances.

 

  • You insert checkin Download and Install and clicking Next

 

  • It meaningthat the picture of License Agreement comes out, if it agrees to the license, clicking I A gree. It is proper, but when it does not agree, it cannot install.

 

  • Which package is chosen, but you hear. Current (present version) you insert check and clicking Next.

 

  • The necessary component is selected. It designates installation as Custom, inserts check in MinGW base tools, g++ compiler and MinGW Make, clicking Next.If these 3 components are not selected, it meaning that compiling is not possible, please verify whether check has entered securely.

 

  • You inquire about the place where it installs. This way being to be necessary, clicking Next. Furthermore, in installation the being less crowded territory of 58.5MB is necessary in the hard disk.

 

  • You inquire about the selection of the start menu folder. Clicking Install this way

 

  • When download and installation start, installation ends, like the following picture it becomes the indication of Installation Complete. Clicking Next

 

  • ClickingFinish, it will end installation job. Next will install MSYS.


 

2. The installation of MSYS 

  • MSYS to use MinGW is the minimum system which is necessary in order to make easy with the abbreviation of Minimal System. Same as MinGWhttp:DownloadingMSYS-1.0.10.exefrom//prdownloads.sourceforge.net/mingw/,please put on the desktop. When MSYS-1.0.10.exe double is clicked, the following window opens. "It is and" clicks and advances to the next.

 

  • It meaning that the picture of Welcome to the "Minimal System" Setup Wizard opens, clicking Next.

 

 

  • ReadingLicense agreement, if OK clicking Yes.

 

 

  • WhenInformation is read, clicking Next.

 

  • It becomesthe picture of Setup. Without modifying ahead installing clicking Next. At least the being less crowded territory of 6MB is necessary in installation.

 

 

  • Beingto become the picture of Select components, at all do, clicking Next.

 

 

  • It becomes the pictureof Select START Menu Bar. At all do, clicking Next.

 

  • It becomes the pictureof Ready, to Install from now on installs to ハードディス. Clicking Install.

 

  •  Like the picture below when installation becomes 100%, the command prompt window as in the figure under that opens.

  •  Like below please answer.

    Do you wish to continue with the post intsll? [ Yn ] y
    Do you have MinGW installed [ Yn ] y
    Please answer the following in the form of c: /foo/bar
    Where is your MinGW installation?C:/mingw

     

  • Installation is end with this. Finish will be clicked.

 

  • When installation ends normally. The idea contest of MSYS is added on the desktop. When double it clicks that, the MINGW32 terminal below opens. The installation job of MSYS is end with this.

 

 

3. The installation of ODE0.7

 Download

Whenthe  ODEwebsight(the rough sketch)download whichis the left menu bar is clicked


It becomes the following picture.


 

  •  Version-numbered sourceof Source Coderelease:When it clicks, the page of Open Dynamics of sourceforge.net Engine being to fly, when it clicks ode-src-0.7.zip which is the item of the File Release it becomes this picture which selects ahead downloading.


 


  •  It will download from the host of the day book. Here it downloads from JAIST. ahead downloading  Please make under c:\msys\1.0\home\ user name \src. When there is no src folder, with Explorer c: \ [ New compilation (W) the folder (F) ] please move to→msys\1.0\home\ username, click the right mouse button, choose and draw up the src folder.
Installation
  • As forode-src-0.7.zip being to be compressed with zip, please install the software which can thaw zip. Here, the compressed thawing software, Lhaplus is used.WhenLhaplus is searched withGoogle, it can find ahead downloading simply.


  • Job the UNIX command is used future, but, you who do not know sort of example please input.

1. Doubleclicking the MSYS idea contest, you open the MINGW32 terminal. Please execute the command below with this terminal.

It moves  to 2 src folders
$cd  src 

3. It movesto the ode-0.7 directory
$cd  ode-0.7

4.  Preparation of compiling
 $. /configure--enable-double-precision

5. Compiling
$ make

When it succeeds in make, like below it is indicated.

6. Installation
$make  install 

7.Test
$ cd  ode/test
./test_crash 

 

 When command above succeeds, when the window of Simulationtest environment v0.02 opens and the picture below is indicated, it is success. Extremely wax! As for method of playing being to be indicated in DrawStuff Message, following to that, please play.


     

To be continued.

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