Accelerate research and development in robotics and allow the sharing of best ideas. It is the objective of OpenHRP3 (Open Architecture Human-Centered Robotics Platform 3), a new software package for the simulation of the various robots. The software is an improved version of Open HRP2, a technology platform earlier which was mainly for the simulation of humanoid and was distributed in binary. Issued in Open Source, Open HRP3 allows for its share of dynamic simulation and video machines as diverse as robot arms, mobile robots with wheels or humanoid robots. Open HRP3 allows for software travel planning, control of movements or visual feedback and many other operations.
Robot arms, mobile robots and humanoids
All developments are in accordance with permit RTC (Robotic Technology Component), an international standard robotics. Traditionally, robots were designed and developed in a less effective because research and development were often conducted on an individual basis and each institution develops its own software. Not only were they often incompatible with each other but the increased reuse of software often requires additional work to adapt to new machines. This is to eliminate such duplication and extra work has been put in place the technology platform.
Two types of algorithms
The new simulator in effect combines two types of algorithms: ADA (Assembly-Disassembly Algorithm) and ABA (Articulated Body Algorithm). One allows the simulation of rigid body mechanics, ie robots endowed with a low degree of freedom. The other is suitable for robots endowed with a greater degree of freedom. Both methods of calculation for measuring the contact force between objects and thus to simulate the contact between a wide variety of robot and its environment. OpenHRP3 was designed by researchers at the AIST (National Institute of Advanced Industrial Science and Technology) in collaboration with the Graduate School of Information Science and Technology, Tokyo University and General Robotix.