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Asked — Edited

Has Anyone Simulated The Jd Humanoid Robot In V-Rep?

Hi all!

Just Joined the community on 10DEC2016Sa and purchased a JD Humanoid Kit. I'm experienced in software design and programming.

Has anyone here tried to simulate the JD Humanoid(JDH) in the V-REP simulator?

The reasons for simulating JDH are to experiment with various algorithms without damaging the real robot and also validate and verify modifications on size and capabilities. Additionally, it would be great learning to eliminate the discrepancies (called "simulation gap") between actions of the real robot in the real world versus actions of the simulated robot in the simulated world by applying noise to the simulation to calibrate/synchronize the robots.

I'd like to set up the simulation, so I'm ensuring that it hasn't already been done.

I haven't learned ARC yet, but it appears not to have simulation capability.

Any suggestions?

samq


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#9  

It also turns out that it would be great if the left foot and right foot assembly servo motor stl was downloadable since I need that as part of simulation graphics. Right now they already exist but are not downloadable. Additionally, the servo body stls for the lever servo and the micro servo stl to the head are also needed. They also already exist but are not downloadable.

#11  

Thanks, great info!

The V-REP Simulator is able to import various cad formats including .STL. There is a Hexapod tutorial that uses a .dxf file generated by an autodesk cad app. This .dxf is quite helpful since all the parts of the hexapod are downloaded all at once and also linked together(!).

When I saw the Designer window in ARC, all the parts are already connected(!) and it seems like it would be easy to export everything in .dxf format; so as far as I can tell ARC doesn't support exporting the completed model in the Designer window in a .dxf format? Is there any way you could provide that on the side(only if it's easy for you)? This would make it super easy to quickly support EZ-Robot simulation in V-REP since it saves lots of time otherwise spent on connecting all the .STL components by hand.

PRO
Synthiam
#12  

The ARC designer doesn't actually "connect" the components

#13  

Hey DJ!

Which unit of measure was used when you created the STL files? (m, mm, cm....etc)

PRO
Synthiam
#15  

That was the shortest message i've ever written on this board:D

#16  

But it had GREAT impact!