Allegro Hand
ROS Software Maintainer: Sean Yi < seanyi@wonik.com >
Allegro Hand ROS stack: allegro_hand_ros
IMPORTANT: This software is compatible with both 32-bit and 64-bit systems. Make sure to install the correct Allegro Hand Grasping library: libBHand
Tested and working on:
Allegro Hand V3
Ubuntu 12.04 LTS (kernel 3.2.0 - 3.13.0), ROS Fuerte
Ubuntu 12.04 - 14.04 LTS (kernel 3.13.0), ROS Groovy
ROS Indigo (and beyond) with this fork: https://github.com/felixduvallet/allegro-hand-ros
Note: Extremely unstable control on ROS Electric. Also, no rviz visualization.
Allegro Hand V4(Currently supported)
Ubuntu 16.04 LTS (4.15.0-106-generic), ROS Kinetic
ROS Kinetic with this fork: https://github.com/simlabrobotics/allegro_hand_ros_v4
Note: Support rviz visualization.
Contents
Overview
Allegro Hand is a low-cost and highly adaptive robotic hand.
With four fingers and sixteen independent torque-controlled joints,
it's the perfect platform for grasp and manipulation research.
- Lightweight and portable anthropomorphic design
- Low-cost dexterous manipulation with applications in research and industry
- Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
- Capable of holding over 1.5kg
- 16 independent torque-controlled joints (4 fingers x 4 DOF ea.)
- Support for real-time control and online simulation
- ROS integration
More information can be found on the Allegro Hand wiki:
Documentation
See the README file included in the package.
Hardware and software documentation as well as purchasing information can be found on the Allegro Hand wiki:
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Using ROS
Hardware
Allegro Hand (left or right) from http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand_v4.0
PCAN-USB or a PCAN-PCI adapter from peak-system.com
- 12V ~ 24V, 120W (Allegro Hand v4)
Installation
See the Allegro Hand stack wiki page for installation instructions.
catkin-compatible fork
An unofficial updated fork of the Wonikrobotics ROS package is available here(for Allegro Hand v3). It is compatible with modern ROS versions (i.e. catkin), integrates everything into a single launch file, and provides several other improvements.
Contributing
If you would like to contribute to the ROS software for Wonikrobotics's Allegro hand, please contact Wonikrobotics < robotics.biz@wonik.com >. Thank you.
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