The HuMAnS Toolbox
What is the HuMAnS toolbox?
The Humanoid Motion Analysis and Simulation
toolbox developed at the INRIA in Grenoble offers tools for the
modeling, the control and the analysis of humanoid motion, being that of
a robot or a human. It is already used in the BIPOP team in Grenoble, in the DEMAR team in Montpellier, at
the LMS in Poitiers, at
the JRL in Japan for
applications on the Bip
and the HRP-2
humanoid robots as well as in biomechanics, for the Functional Electric
Stimulation of paralyzed muscles and in neurophysiology.
It is mainly developed by members of the BIPOP team at the INRIA, and works successfully on
Windows, MacOS X and Linux computers. Please check the
Documentation section for more details.
As soon as one is interested in the simulation and analysis of humanoid
motion, one major scientific and technical difficulty lies in the non
permanent contact between the feet and the ground and more generally
between the humanoid and its environment. The numerical analysis of non
permanent contact is still an open problem from the point of view of
theory and even more from the point of view of software availability.
Indeed, rare are the mechanical simulation software available today,
either academic or commercial, that can be considered to propose correct
and efficient solutions in situations of non permanent contact. This is
one major focus of the HuMAnS toolbox.
Then, numerical tools for the analysis of the stability of humanoid
motion, for generating postures, trajectories and control laws need to
rely on state of the art analytical models of both the humanoid figures
and the different tasks that need to be realized. Commercial software
exist for generating analytical models of mechanical systems, such as
SD/FAST, distributed by Parametric Technology Corporation, or SYMORO+,
developed by the Institut de Recherche en Communications et en
Cybernétique de Nantes, but these are closed tools which do not
allow to manipulate more thoroughly the resulting mechanical models and
generate additional models of the tasks to be realized. The lack of such
open modular analysis tools motivated us in developing the HuMAnS
software, a toolbox specifically designed for Humanoid Motion Analysis
and Simulation which appears to be unique so far.
The simulation, the control and the analysis tools in HuMAnS are based
on Scilab, a free Matlab clone
developed at the INRIA. The model generation uses Maple to generate C
code. Maple and a C compiler are necessary therefore if AND ONLY IF you
want to create new models or modify those already included in HuMAnS.
Then, the posture generator specifically needs the optimization
algorithm FSQP which can be obtained (free for academics) from AEMDesign.
In conclusion, for most uses of the HuMAnS toolbox, the only required
And in order to exploit the full possibilities of the toolbox, the
software that can be necessary is:
Since VRML files can be generated for nice 3D graphics, a VRML viewer
can be helpful as well.
- Maple for the model
- a C compiler like gcc for Unix or MacOS, or Visual.net for Windows
systems to compile the C code produced by Maple,
- FSQP 1.2 for the posture
This software is Copyright (C) INRIA
It is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public
License version 2 as published by the
Free Software Foundation.
We would prefer however that any interested person asks for this
software directly by email to firstname.lastname@example.org
precising his/her name, institution and use of the HuMAnS toolbox.
This program is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
General Public License for more details.
Downloading this software means that you accept the conditions of this
License and that you are bound to respect them.