http://wiki.wonikrobotics.com/AllegroHandWiki/api.php?action=feedcontributions&user=Alexalspach&feedformat=atom
Allegro Hand - User contributions [en]
2024-03-28T21:14:10Z
User contributions
MediaWiki 1.20.2
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/MediaWiki:Common.css
MediaWiki:Common.css
2014-08-19T02:51:08Z
<p>Alexalspach: </p>
<hr />
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* Maintainers: [[en:User:R. Koot]]<br />
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Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/MediaWiki:Common.css
MediaWiki:Common.css
2014-08-19T02:50:14Z
<p>Alexalspach: </p>
<hr />
<div>/* CSS placed here will be applied to all skins */<br />
<br />
/* .tocnumber { display: none; } */<br />
<br />
body{<br />
font-family: Arial, Helvetica, sans-serif;<br />
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* Maintainers: [[en:User:R. Koot]]<br />
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Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/MediaWiki:Common.css
MediaWiki:Common.css
2014-08-19T02:49:42Z
<p>Alexalspach: </p>
<hr />
<div>/* CSS placed here will be applied to all skins */<br />
<br />
/* .tocnumber { display: none; } */<br />
<br />
body{<br />
font-family: Arial, Helvetica, sans-serif;<br />
}<br />
p {text-indent:0em;}<br />
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* Maintainers: [[en:User:R. Koot]]<br />
*/<br />
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element.style {<br />
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Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Template:SAH030BL030_Offsets_and_Directions_(ROS)
Template:SAH030BL030 Offsets and Directions (ROS)
2014-07-24T07:06:23Z
<p>Alexalspach: Created page with "<pre> #SAH030BL030 #The YAML file used by the Allegro Hand Node is named "zero.yaml" hand_info: control_period_s: 0.003 DOF: 16 which_hand: 'left' robot_name: 'Allegro Ha..."</p>
<hr />
<div><pre><br />
#SAH030BL030<br />
#The YAML file used by the Allegro Hand Node is named "zero.yaml"<br />
<br />
hand_info:<br />
control_period_s: 0.003<br />
DOF: 16<br />
which_hand: 'left'<br />
robot_name: 'Allegro Hand'<br />
manufacturer: 'SimLab Co. Ltd.'<br />
origin: 'Seoul, South Korea'<br />
serial: 'SAH030BL030'<br />
version: 3.0<br />
<br />
zero:<br />
encoder_offset:<br />
j00: 298<br />
j01: 2272<br />
j02: -787<br />
j03: -21<br />
j10: -263<br />
j11: 1313<br />
j12: -273<br />
j13: -442<br />
j20: -16<br />
j21: 2085<br />
j22: -69<br />
j23: 843<br />
j30: 738<br />
j31: 961<br />
j32: 951<br />
j33: -206<br />
<br />
encoder_direction:<br />
j00: +1<br />
j01: +1<br />
j02: +1<br />
j03: +1<br />
j10: +1<br />
j11: +1<br />
j12: +1<br />
j13: +1<br />
j20: +1<br />
j21: +1<br />
j22: +1<br />
j23: +1<br />
j30: +1<br />
j31: +1<br />
j32: +1<br />
j33: +1<br />
<br />
motor_direction:<br />
j00: +1<br />
j01: +1<br />
j02: +1<br />
j03: +1<br />
j10: +1<br />
j11: +1<br />
j12: +1<br />
j13: +1<br />
j20: +1<br />
j21: +1<br />
j22: +1<br />
j23: +1<br />
j30: +1<br />
j31: +1<br />
j32: +1<br />
j33: +1<br />
</pre></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Template:SAH030BL030_Offsets_and_Directions
Template:SAH030BL030 Offsets and Directions
2014-07-24T07:05:41Z
<p>Alexalspach: Created page with "'''Last updated:''' <br> --~~~~ {| style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-a..."</p>
<hr />
<div>'''Last updated:''' <br><br />
--[[User:Alexalspach|Alex Alspach]] ([[User talk:Alexalspach|talk]]) 16:05, 24 July 2014 (KST)<br />
<br />
{| style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; width: 700px"<br />
|-style="background: #D0D0D0"<br />
|'''Finger'''<br />
|'''Joint'''<br />
|'''Encoder Offsets'''<br>''encoder_offset''<br />
|'''Encoder Directions'''<br>''encoder_direction''<br />
|'''Motor Directions'''<br>''motor_direction''<br />
|-style="background: #F0F0F0"<br />
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| +<br />
| +<br />
|-<br />
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| 1<br />
| 2272<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 2<br />
| -787<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 3<br />
| -21<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
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| 0<br />
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| +<br />
| +<br />
|-<br />
| 1<br />
| 1<br />
| 1313<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 2<br />
| -273<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 3<br />
| -442<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 2<br />
| 0<br />
| -16<br />
| +<br />
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|-<br />
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| +<br />
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|-<br />
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| +<br />
| +<br />
|-<br />
| 2<br />
| 3<br />
| 843<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 3<br />
| 0<br />
| 738<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 1<br />
| 961<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 2<br />
| 951<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 3<br />
| -206<br />
| +<br />
| +<br />
|-<br />
|}<br />
<br></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/File:SAH030BL030_DMLs.zip
File:SAH030BL030 DMLs.zip
2014-07-24T06:39:50Z
<p>Alexalspach: </p>
<hr />
<div></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/TUMunchen:Allegro_Hand
TUMunchen:Allegro Hand
2014-07-24T06:37:35Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:TUMunchenLogo.jpg|180px]]</center><br />
<center>'''Serial Number:''' SAH020CR018 (Right, v2.0)</center><br />
<center>'''Serial Number:''' SAH030BL030 (Left, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030BL030 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH020CR018 (Right)===<br />
{{Offsets and Directions|SAH020CR018}}<br />
<br />
<br />
===SAH030BL030 (Left)===<br />
{{Offsets and Directions|SAH030BL030}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/TUMunchen:Allegro_Hand
TUMunchen:Allegro Hand
2014-07-24T06:34:55Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:TUMunchenLogo.jpg|180px]]</center><br />
<center>'''Serial Number:''' SAH020CR018 (Right, v2.0)</center><br />
<center>'''Serial Number:''' SAH030BL030 (Left, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR024 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR024 (Right)===<br />
{{Offsets and Directions|SAH030AR024}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/TUMunchen:Allegro_Hand
TUMunchen:Allegro Hand
2014-07-24T06:32:05Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:TUMunchenLogo.jpg|180px]]</center><br />
<center>'''Serial Number:''' SAH030AR024 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR024 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR024 (Right)===<br />
{{Offsets and Directions|SAH030AR024}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/TUMunchen:Allegro_Hand
TUMunchen:Allegro Hand
2014-07-24T06:31:51Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:TUMunchenLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR024 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR024 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR024 (Right)===<br />
{{Offsets and Directions|SAH030AR024}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/TUMunchen:Allegro_Hand
TUMunchen:Allegro Hand
2014-07-24T06:31:35Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:TUMunchenLogo.jpg|300px]]</center><br />
<center>'''Serial Number:''' SAH030AR024 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR024 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR024 (Right)===<br />
{{Offsets and Directions|SAH030AR024}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/TUMunchen:Allegro_Hand
TUMunchen:Allegro Hand
2014-07-24T06:30:52Z
<p>Alexalspach: Created page with "d"</p>
<hr />
<div>d</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/MediaWiki:Bootstrap-navbar
MediaWiki:Bootstrap-navbar
2014-07-24T06:30:45Z
<p>Alexalspach: </p>
<hr />
<div>* General<br />
** [[Allegro Hand Overview]]<br />
** [[Purchasing]]<br />
* Tech Info<br />
** [[Allegro Hand Overview]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
** [[Joint Dimensions and Directions]]<br />
** [[Mounting Information]]<br />
** [[Fingertip Sensor Mounting Information]]<br />
** [[Joint Limits]]<br />
** [[Link Masses]]<br />
** [[Home Position Joint Angles]]<br />
** [[Ribbon Cable Replacement]]<br />
** [[CAN Protocol]]<br />
** [[CAN Options]]<br />
** [[Troubleshooting Guide]]<br />
* Setup<br />
** [[Allegro Application Studio (Installation)]]<br />
** [[Allegro Application Studio (User Manual)]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
* Tutorials<br />
** [[Allegro Application Studio (Installation)]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
** [[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
** [[2. Allegro Hand Joint Position Control]]<br />
** [[3. Interfacing with the Actual Allegro Hand]]<br />
** [[4. AHAS Buttons and BHand Library Motions]]<br />
** [[5. Joint PD Control Without Hand Library]]<br />
* Support<br />
** [[Mounting Information]]<br />
** [[Fingertip Sensor Mounting Information]]<br />
** [[Ribbon Cable Replacement]]<br />
** [[Troubleshooting Guide]]<br />
* Downloads<br />
** [[Grasping Library for Linux]]<br />
** [[Allegro Hand RoboticsLab Project]]<br />
** [[Allegro Hand MSVS Project]]<br />
** [[Allegro Hand CAD]]<br />
* Customers<br />
** [[EPFL: Allegro Hand|EPFL]]<br />
** [[KIST_Customers|KIST]]<br />
** [[SKKU:Allegro Hand|SKKU]]<br />
** [[Hyosung:Allegro Hand|Hyosung]]<br />
** [[KIMM:Allegro Hand|KIMM]]<br />
** [[TUBerlin:Allegro Hand|TUBerlin]]<br />
** [[Stanford:Allegro Hand|Stanford]]<br />
** [[UPC:Allegro Hand|UPC]]<br />
** [[Alicante:Allegro Hand|Alicante]]<br />
** [[Weiss:Allegro Hand|Weiss]]<br />
** [[Siena:Allegro Hand|Siena]]<br />
** [[ISAN:Allegro Hand|ISAN]]<br />
** [[Microsoft Research:Allegro Hand|Microsoft Research]]<br />
** [[TUMunchen:Allegro Hand|TUMunchen]]<br />
* [[Special:AWCforum|Forum]]<br />
* [[Contact Us]]</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/MediaWiki:Bootstrap-navbar
MediaWiki:Bootstrap-navbar
2014-07-24T06:30:31Z
<p>Alexalspach: </p>
<hr />
<div>* General<br />
** [[Allegro Hand Overview]]<br />
** [[Purchasing]]<br />
* Tech Info<br />
** [[Allegro Hand Overview]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
** [[Joint Dimensions and Directions]]<br />
** [[Mounting Information]]<br />
** [[Fingertip Sensor Mounting Information]]<br />
** [[Joint Limits]]<br />
** [[Link Masses]]<br />
** [[Home Position Joint Angles]]<br />
** [[Ribbon Cable Replacement]]<br />
** [[CAN Protocol]]<br />
** [[CAN Options]]<br />
** [[Troubleshooting Guide]]<br />
* Setup<br />
** [[Allegro Application Studio (Installation)]]<br />
** [[Allegro Application Studio (User Manual)]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
* Tutorials<br />
** [[Allegro Application Studio (Installation)]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
** [[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
** [[2. Allegro Hand Joint Position Control]]<br />
** [[3. Interfacing with the Actual Allegro Hand]]<br />
** [[4. AHAS Buttons and BHand Library Motions]]<br />
** [[5. Joint PD Control Without Hand Library]]<br />
* Support<br />
** [[Mounting Information]]<br />
** [[Fingertip Sensor Mounting Information]]<br />
** [[Ribbon Cable Replacement]]<br />
** [[Troubleshooting Guide]]<br />
* Downloads<br />
** [[Grasping Library for Linux]]<br />
** [[Allegro Hand RoboticsLab Project]]<br />
** [[Allegro Hand MSVS Project]]<br />
** [[Allegro Hand CAD]]<br />
* Customers<br />
** [[EPFL: Allegro Hand|EPFL]]<br />
** [[KIST_Customers|KIST]]<br />
** [[SKKU:Allegro Hand|SKKU]]<br />
** [[Hyosung:Allegro Hand|Hyosung]]<br />
** [[KIMM:Allegro Hand|KIMM]]<br />
** [[TUBerlin:Allegro Hand|TUBerlin]]<br />
** [[Stanford:Allegro Hand|Stanford]]<br />
** [[UPC:Allegro Hand|UPC]]<br />
** [[Alicante:Allegro Hand|Alicante]]<br />
** [[Weiss:Allegro Hand|Weiss]]<br />
** [[Siena:Allegro Hand|Siena]]<br />
** [[ISAN:Allegro Hand|ISAN]]<br />
** [[Microsoft Research:Allegro Hand|Microsoft Research]]<br />
** [[]TUMunchen:Allegro Hand|TUMunchen]<br />
* [[Special:AWCforum|Forum]]<br />
* [[Contact Us]]</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-07-24T06:28:38Z
<p>Alexalspach: </p>
<hr />
<div><!--<br />
{{alert info dismiss header}}<br />
'''Welcome to the new Allegro Hand site!'''<br><br />
Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.<br />
{{alert info dismiss footer}}<br />
--><br />
<!--<br />
{{alert error dismiss header}}<br />
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<html><br />
<div class="hero-unit"><br />
<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
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{{Front page hand photos}}<br />
<br />
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<center><br />
</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
</br></br><br />
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{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
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<!-- FIRST ROW --><br />
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<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
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<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
<html><br />
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</ul><br />
</div><br />
</html><br />
<br />
<!-- THIRD ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
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<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
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</ul><br />
</div><br />
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<!--FIFTH ROW--><br />
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<ul class="thumbnails"><br />
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<br />
<center><br />
<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
</center><br />
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</html><br />
<center><br />
<font size="5">Brochure</font><br><br />
<br />
[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
</center><br />
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<br />
<br><br><br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
<br />
<br><br />
<center><br />
<font size="5">Customers</font><br><br><br />
{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}<br />
{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}<br />
{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]{{/margin}}<br />
{{margin|10px}}[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]{{/margin}}<br />
{{margin|10px}}[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]{{/margin}}<br />
{{margin|10px}}[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]{{/margin}}<br />
{{margin|10px}}[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]{{/margin}}<br />
{{margin|10px}}[[Image:SienaLogo.jpg|160px|link=Siena:Allegro Hand|University of Siena]]{{/margin}}<br />
{{margin|10px}}[[Image:ISANLogo.jpg|160px|link=ISAN:Allegro Hand|ISAN Solution]]{{/margin}}<br />
{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}}<br />
{{margin|10px}}[[Image:TUMunchenLogo.jpg|120px|link=TUMunchen:AllegroHand|Technical University of Munich]]{{/margin}}<br />
<br />
</center><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
*[[Microsoft Research:Allegro Hand]]<br />
*[[TUMunchen:Allegro Hand]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
<br />
[[Rock Paper Scissors]]<br />
<br />
[[Sensor Options]]<br />
<br />
<!--<br />
[[File:NI-CAN_DRIVER_v274.zip]]<br><br />
[[File:nicandll.zip]]<br />
--><br />
<!--<br />
[[About This Wiki]]<br><br />
<br />
[[Special:AWCforum|Allegro Hand Forum]] <br><br />
[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br><br />
<br />
<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
<br />
<br />
[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
<br />
[[About This Wiki]]<br><br />
<br><br><br><br />
<br />
[[Suggestions]]<br />
<br />
[[AHAS Suggestions]]<br />
<br />
<br />
--></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-07-24T06:27:20Z
<p>Alexalspach: </p>
<hr />
<div><!--<br />
{{alert info dismiss header}}<br />
'''Welcome to the new Allegro Hand site!'''<br><br />
Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.<br />
{{alert info dismiss footer}}<br />
--><br />
<!--<br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
--><br />
<html><br />
<div class="hero-unit"><br />
<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
</center><br />
</div></html><br />
<br />
{{Front page hand photos}}<br />
<br />
<html><br />
<div class="alert alert-info"><br />
<center><br />
</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
</br></br><br />
</center><br />
</div></html><br />
<br />
{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
<br />
<br />
<br />
<br><br><br />
<!-- FIRST ROW --><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- SECOND ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- THIRD ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FORTH ROW--><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span12"> <br />
</html><br />
<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
<html><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FIFTH ROW--><br />
<br><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<br />
<center><br />
<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
</center><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<center><br />
<font size="5">Brochure</font><br><br />
<br />
[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
</center><br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<br><br><br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
<br />
<br><br />
<center><br />
<font size="5">Customers</font><br><br><br />
{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}<br />
{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}<br />
{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]{{/margin}}<br />
{{margin|10px}}[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]{{/margin}}<br />
{{margin|10px}}[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]{{/margin}}<br />
{{margin|10px}}[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]{{/margin}}<br />
{{margin|10px}}[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]{{/margin}}<br />
{{margin|10px}}[[Image:SienaLogo.jpg|160px|link=Siena:Allegro Hand|University of Siena]]{{/margin}}<br />
{{margin|10px}}[[Image:ISANLogo.jpg|160px|link=ISAN:Allegro Hand|ISAN Solution]]{{/margin}}<br />
{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}}<br />
{{margin|10px}}[[Image:TUMunchenLogo.jpg|120px|link=TUMunchen:Technical University of Munich]]{{/margin}}<br />
<br />
</center><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
*[[Microsoft Research:Allegro Hand|Microsoft Research]]<br />
*[[TUMunchen:Technical University of Munich]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
<br />
[[Rock Paper Scissors]]<br />
<br />
[[Sensor Options]]<br />
<br />
<!--<br />
[[File:NI-CAN_DRIVER_v274.zip]]<br><br />
[[File:nicandll.zip]]<br />
--><br />
<!--<br />
[[About This Wiki]]<br><br />
<br />
[[Special:AWCforum|Allegro Hand Forum]] <br><br />
[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br><br />
<br />
<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
<br />
<br />
[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
<br />
[[About This Wiki]]<br><br />
<br><br><br><br />
<br />
[[Suggestions]]<br />
<br />
[[AHAS Suggestions]]<br />
<br />
<br />
--></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-07-24T06:26:14Z
<p>Alexalspach: </p>
<hr />
<div><!--<br />
{{alert info dismiss header}}<br />
'''Welcome to the new Allegro Hand site!'''<br><br />
Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.<br />
{{alert info dismiss footer}}<br />
--><br />
<!--<br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
--><br />
<html><br />
<div class="hero-unit"><br />
<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
</center><br />
</div></html><br />
<br />
{{Front page hand photos}}<br />
<br />
<html><br />
<div class="alert alert-info"><br />
<center><br />
</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
</br></br><br />
</center><br />
</div></html><br />
<br />
{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
<br />
<br />
<br />
<br><br><br />
<!-- FIRST ROW --><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- SECOND ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- THIRD ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FORTH ROW--><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span12"> <br />
</html><br />
<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
<html><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FIFTH ROW--><br />
<br><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<br />
<center><br />
<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
</center><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<center><br />
<font size="5">Brochure</font><br><br />
<br />
[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
</center><br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<br><br><br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
<br />
<br><br />
<center><br />
<font size="5">Customers</font><br><br><br />
{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}<br />
{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}<br />
{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]{{/margin}}<br />
{{margin|10px}}[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]{{/margin}}<br />
{{margin|10px}}[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]{{/margin}}<br />
{{margin|10px}}[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]{{/margin}}<br />
{{margin|10px}}[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]{{/margin}}<br />
{{margin|10px}}[[Image:SienaLogo.jpg|160px|link=Siena:Allegro Hand|University of Siena]]{{/margin}}<br />
{{margin|10px}}[[Image:ISANLogo.jpg|160px|link=ISAN:Allegro Hand|ISAN Solution]]{{/margin}}<br />
{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}}<br />
{{margin|10px}}[[Image:TUMunchenLogo.jpg|120px|link=TUMunchen:Technical University of Munich]]{{/margin}}<br />
<br />
</center><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
<br />
[[Rock Paper Scissors]]<br />
<br />
[[Sensor Options]]<br />
<br />
<!--<br />
[[File:NI-CAN_DRIVER_v274.zip]]<br><br />
[[File:nicandll.zip]]<br />
--><br />
<!--<br />
[[About This Wiki]]<br><br />
<br />
[[Special:AWCforum|Allegro Hand Forum]] <br><br />
[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br><br />
<br />
<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
<br />
<br />
[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
<br />
[[About This Wiki]]<br><br />
<br><br><br><br />
<br />
[[Suggestions]]<br />
<br />
[[AHAS Suggestions]]<br />
<br />
<br />
--></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-07-24T06:25:56Z
<p>Alexalspach: </p>
<hr />
<div><!--<br />
{{alert info dismiss header}}<br />
'''Welcome to the new Allegro Hand site!'''<br><br />
Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.<br />
{{alert info dismiss footer}}<br />
--><br />
<!--<br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
--><br />
<html><br />
<div class="hero-unit"><br />
<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
</center><br />
</div></html><br />
<br />
{{Front page hand photos}}<br />
<br />
<html><br />
<div class="alert alert-info"><br />
<center><br />
</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
</br></br><br />
</center><br />
</div></html><br />
<br />
{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
<br />
<br />
<br />
<br><br><br />
<!-- FIRST ROW --><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- SECOND ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- THIRD ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FORTH ROW--><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span12"> <br />
</html><br />
<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
<html><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FIFTH ROW--><br />
<br><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<br />
<center><br />
<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
</center><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<center><br />
<font size="5">Brochure</font><br><br />
<br />
[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
</center><br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<br><br><br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
<br />
<br><br />
<center><br />
<font size="5">Customers</font><br><br><br />
{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}<br />
{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}<br />
{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]{{/margin}}<br />
{{margin|10px}}[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]{{/margin}}<br />
{{margin|10px}}[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]{{/margin}}<br />
{{margin|10px}}[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]{{/margin}}<br />
{{margin|10px}}[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]{{/margin}}<br />
{{margin|10px}}[[Image:SienaLogo.jpg|160px|link=Siena:Allegro Hand|University of Siena]]{{/margin}}<br />
{{margin|10px}}[[Image:ISANLogo.jpg|160px|link=ISAN:Allegro Hand|ISAN Solution]]{{/margin}}<br />
{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}}<br />
{{margin|10px}}[[Image:TUMunchenLogo.jpg|100px|link=TUMunchen:Technical University of Munich]]{{/margin}}<br />
<br />
</center><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
<br />
[[Rock Paper Scissors]]<br />
<br />
[[Sensor Options]]<br />
<br />
<!--<br />
[[File:NI-CAN_DRIVER_v274.zip]]<br><br />
[[File:nicandll.zip]]<br />
--><br />
<!--<br />
[[About This Wiki]]<br><br />
<br />
[[Special:AWCforum|Allegro Hand Forum]] <br><br />
[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br><br />
<br />
<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
<br />
<br />
[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
<br />
[[About This Wiki]]<br><br />
<br><br><br><br />
<br />
[[Suggestions]]<br />
<br />
[[AHAS Suggestions]]<br />
<br />
<br />
--></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-07-24T06:25:40Z
<p>Alexalspach: </p>
<hr />
<div><!--<br />
{{alert info dismiss header}}<br />
'''Welcome to the new Allegro Hand site!'''<br><br />
Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.<br />
{{alert info dismiss footer}}<br />
--><br />
<!--<br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
--><br />
<html><br />
<div class="hero-unit"><br />
<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
</center><br />
</div></html><br />
<br />
{{Front page hand photos}}<br />
<br />
<html><br />
<div class="alert alert-info"><br />
<center><br />
</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
</br></br><br />
</center><br />
</div></html><br />
<br />
{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
<br />
<br />
<br />
<br><br><br />
<!-- FIRST ROW --><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- SECOND ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- THIRD ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FORTH ROW--><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span12"> <br />
</html><br />
<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
<html><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FIFTH ROW--><br />
<br><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<br />
<center><br />
<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
</center><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<center><br />
<font size="5">Brochure</font><br><br />
<br />
[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
</center><br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<br><br><br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
<br />
<br><br />
<center><br />
<font size="5">Customers</font><br><br><br />
{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}<br />
{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}<br />
{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]{{/margin}}<br />
{{margin|10px}}[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]{{/margin}}<br />
{{margin|10px}}[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]{{/margin}}<br />
{{margin|10px}}[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]{{/margin}}<br />
{{margin|10px}}[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]{{/margin}}<br />
{{margin|10px}}[[Image:SienaLogo.jpg|160px|link=Siena:Allegro Hand|University of Siena]]{{/margin}}<br />
{{margin|10px}}[[Image:ISANLogo.jpg|160px|link=ISAN:Allegro Hand|ISAN Solution]]{{/margin}}<br />
{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}}<br />
{{margin|10px}}[[Image:TUMunchenLogo.jpg|140px|link=TUMunchen:Technical University of Munich]]{{/margin}}<br />
<br />
</center><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
<br />
[[Rock Paper Scissors]]<br />
<br />
[[Sensor Options]]<br />
<br />
<!--<br />
[[File:NI-CAN_DRIVER_v274.zip]]<br><br />
[[File:nicandll.zip]]<br />
--><br />
<!--<br />
[[About This Wiki]]<br><br />
<br />
[[Special:AWCforum|Allegro Hand Forum]] <br><br />
[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br><br />
<br />
<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
<br />
<br />
[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
<br />
[[About This Wiki]]<br><br />
<br><br><br><br />
<br />
[[Suggestions]]<br />
<br />
[[AHAS Suggestions]]<br />
<br />
<br />
--></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/File:TUMunchenLogo.jpg
File:TUMunchenLogo.jpg
2014-07-24T06:23:54Z
<p>Alexalspach: </p>
<hr />
<div></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-07-24T06:21:10Z
<p>Alexalspach: </p>
<hr />
<div><!--<br />
{{alert info dismiss header}}<br />
'''Welcome to the new Allegro Hand site!'''<br><br />
Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.<br />
{{alert info dismiss footer}}<br />
--><br />
<!--<br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
--><br />
<html><br />
<div class="hero-unit"><br />
<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
</center><br />
</div></html><br />
<br />
{{Front page hand photos}}<br />
<br />
<html><br />
<div class="alert alert-info"><br />
<center><br />
</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
</br></br><br />
</center><br />
</div></html><br />
<br />
{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
<br />
<br />
<br />
<br><br><br />
<!-- FIRST ROW --><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- SECOND ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- THIRD ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FORTH ROW--><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span12"> <br />
</html><br />
<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
<html><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FIFTH ROW--><br />
<br><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<br />
<center><br />
<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
</center><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<center><br />
<font size="5">Brochure</font><br><br />
<br />
[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
</center><br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<br><br><br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
<br />
<br><br />
<center><br />
<font size="5">Customers</font><br><br><br />
{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}<br />
{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}<br />
{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]{{/margin}}<br />
{{margin|10px}}[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]{{/margin}}<br />
{{margin|10px}}[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]{{/margin}}<br />
{{margin|10px}}[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]{{/margin}}<br />
{{margin|10px}}[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]{{/margin}}<br />
{{margin|10px}}[[Image:SienaLogo.jpg|160px|link=Siena:Allegro Hand|University of Siena]]{{/margin}}<br />
{{margin|10px}}[[Image:ISANLogo.jpg|160px|link=ISAN:Allegro Hand|ISAN Solution]]{{/margin}}<br />
{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}}<br />
{{margin|10px}}[[Image:TUMunchenLogo.jpg|160px|link=TUMunchen:Technical University of Munich]]{{/margin}}<br />
<br />
</center><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
<br />
[[Rock Paper Scissors]]<br />
<br />
[[Sensor Options]]<br />
<br />
<!--<br />
[[File:NI-CAN_DRIVER_v274.zip]]<br><br />
[[File:nicandll.zip]]<br />
--><br />
<!--<br />
[[About This Wiki]]<br><br />
<br />
[[Special:AWCforum|Allegro Hand Forum]] <br><br />
[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br><br />
<br />
<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
<br />
<br />
[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
<br />
[[About This Wiki]]<br><br />
<br><br><br><br />
<br />
[[Suggestions]]<br />
<br />
[[AHAS Suggestions]]<br />
<br />
<br />
--></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/File:SAH020BR013_DMLs.zip
File:SAH020BR013 DMLs.zip
2014-07-15T09:18:45Z
<p>Alexalspach: Alexalspach uploaded a new version of &quot;File:SAH020BR013 DMLs.zip&quot;</p>
<hr />
<div></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-05-29T01:39:27Z
<p>Alexalspach: </p>
<hr />
<div><!--<br />
{{alert info dismiss header}}<br />
'''Welcome to the new Allegro Hand site!'''<br><br />
Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.<br />
{{alert info dismiss footer}}<br />
--><br />
<!--<br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
--><br />
<html><br />
<div class="hero-unit"><br />
<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
</center><br />
</div></html><br />
<br />
{{Front page hand photos}}<br />
<br />
<html><br />
<div class="alert alert-info"><br />
<center><br />
</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
</br></br><br />
</center><br />
</div></html><br />
<br />
{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
<br />
<br />
<br />
<br><br><br />
<!-- FIRST ROW --><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- SECOND ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- THIRD ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FORTH ROW--><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span12"> <br />
</html><br />
<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
<html><br />
</ul><br />
</div><br />
</html><br />
<br />
<!--FIFTH ROW--><br />
<br><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<br />
<center><br />
<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
</center><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<center><br />
<font size="5">Brochure</font><br><br />
<br />
[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
</center><br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<br><br><br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
<br />
<br><br />
<center><br />
<font size="5">Customers</font><br><br><br />
{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}<br />
{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}<br />
{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}<br />
{{margin|10px}}[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]{{/margin}}<br />
{{margin|10px}}[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]{{/margin}}<br />
{{margin|10px}}[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]{{/margin}}<br />
{{margin|10px}}[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]{{/margin}}<br />
{{margin|10px}}[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]{{/margin}}<br />
{{margin|10px}}[[Image:SienaLogo.jpg|160px|link=Siena:Allegro Hand|University of Siena]]{{/margin}}<br />
{{margin|10px}}[[Image:ISANLogo.jpg|160px|link=ISAN:Allegro Hand|ISAN Solution]]{{/margin}}<br />
{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}}<br />
<br />
<!-- [[Image:UPCLogo.png|200px|link=Bu:Allegro Hand|Technical University of Catalonia]]<br><br> --><br />
</center><br />
<br />
<!--<br />
<center><br />
<font size="5">Customers</font><br><br><br />
[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]<br />
[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]] <br />
[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]] <br />
[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]<br />
[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]<br />
[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]<br />
[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]<br />
[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]<br />
[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]<br />
[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]<br />
[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]<br />
<br />
</center><br />
<br />
{{4 Customer Logos|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|}}<br />
<br />
--><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
<br />
[[Rock Paper Scissors]]<br />
<br />
[[Sensor Options]]<br />
<br />
<!--<br />
[[File:NI-CAN_DRIVER_v274.zip]]<br><br />
[[File:nicandll.zip]]<br />
--><br />
<!--<br />
[[About This Wiki]]<br><br />
<br />
[[Special:AWCforum|Allegro Hand Forum]] <br><br />
[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br><br />
<br />
<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
<br />
<br />
[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
<br />
[[About This Wiki]]<br><br />
<br><br><br><br />
<br />
[[Suggestions]]<br />
<br />
[[AHAS Suggestions]]<br />
<br />
<br />
--></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-05-29T01:24:52Z
<p>Alexalspach: </p>
<hr />
<div><html><br />
<div class="ahnews"><br />
<p>News:</p><br />
</div><br />
</html><br />
<br />
<!--<br />
{{alert info dismiss header}}<br />
'''Welcome to the new Allegro Hand site!'''<br><br />
Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.<br />
{{alert info dismiss footer}}<br />
--><br />
<!--<br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
--><br />
<html><br />
<div class="hero-unit"><br />
<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
</center><br />
</div></html><br />
<br />
{{Front page hand photos}}<br />
<br />
<html><br />
<div class="alert alert-info"><br />
<center><br />
</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
</br></br><br />
</center><br />
</div></html><br />
<br />
{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
<br />
<br />
<br />
<br><br><br />
<!-- FIRST ROW --><br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- SECOND ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
<html><br />
</li><br />
</ul><br />
</div><br />
</html><br />
<br />
<!-- THIRD ROW --><br />
<br />
<html><br />
<div class="row-fluid"><br />
<ul class="thumbnails"><br />
<li class="span6"> <br />
</html><br />
<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
<html><br />
</li><br />
<li class="span6"><br />
</html><br />
<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
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<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
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<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
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<center><br />
<font size="5">Brochure</font><br><br />
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[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
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You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
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{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
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{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
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[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]<br />
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{{4 Customer Logos|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|}}<br />
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--><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
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[[Rock Paper Scissors]]<br />
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[[Sensor Options]]<br />
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<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
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[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
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Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand
Allegro Hand
2014-05-29T01:23:18Z
<p>Alexalspach: </p>
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<p>News:</p><br />
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<!--<br />
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{{alert error dismiss footer}}<br />
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<center><br />
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br><br />
<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Allegro_Hand_Overview" class="btn btn-primary btn-large">Learn more</a><br />
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{{Front page hand photos}}<br />
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</br></br><br />
<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br><br />
<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br><br />
<a href="http://simlab.dyndns.org:9000/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a><br />
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<br />
{{Sensor Photos}}<br />
<br />
{{alert success header}}<br />
'''SimLab's Allegro Hand v3.0 has been released!'''<br><br />
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email Alex [alexalspach at simlab.co.kr] with any questions.<br />
<br />
'''You can download the [[Allegro_Hand_Application_Studio_(AHAS)_Latest_Version | latest version of Allegro Application Studio here]].'''<br />
{{alert success footer}}<br />
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<font size="5">Just got your Allegro Hand?</font><br />
<br />
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.<br />
*[[Allegro Application Studio (Installation)]]<br />
*[[Allegro Application Studio (User Manual)]]<br />
<!--*[[Joint Zeros and Directions Setup Guide]]--><br />
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<font size="5">Success Stories</font><br />
<br />
Cutting edge research and Impressive demonstrations using the Allegro Hand<br />
*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]<br />
*[[Allegro Hand and KUKA Arm Catching at EPFL]]<br />
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<font size="5">Hardware Information</font><br />
<br />
Technical info about the Allegro Hand hardware can be found below.<br />
*[[Joint Dimensions and Directions]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]<br />
*[[Joint Zeros and Directions Setup Guide]]<br />
*[[Joint Limits]]<br />
*[[Link Masses]]<br />
*[[Home Position Joint Angles]]<br />
*[[Mounting Information]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]<br />
*[[Fingertip Sensor Mounting Information]]<br />
*[[Ribbon Cable Replacement]]<br />
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<font size="5">Need a CAN communication interface?</font><br />
<br />
SimLab offers support for five CAN communication interfaces out-of-the-box.<br><br />
For CAN product comparison, documentation and drivers, please visit out CAN Options page.<br />
*[[CAN Options]]<br />
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<font size="5">Developing your own algorithms?</font><br />
<br />
If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.<br />
*[[CAN Options]]<br />
*[[CAN Protocol]] [[http://simlab.dyndns.org:9000/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br><br />
*[[Grasping Library for Linux]]<br />
*[[Programming Guides]] ''Under Construction!''<br />
**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)<br />
**[[3. Interfacing with the Actual Allegro Hand]]<br />
**[[4. AHAS Buttons and BHand Library Motions]]<br />
**[[5. Joint PD Control Without Hand Library]]<br />
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<font size="5">ROS!</font><br />
<br />
If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:<br />
*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]<br />
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<font size="5">Questions? Comments? Concerns?</font><br />
<br />
SimLab offers a 1-year hardware and software warranty along with fast and friendly technical support.<br><br />
If you have an issue, feel free to contact us.<br />
*[[Special:AWCforum|Forum]]<br />
*[[Troubleshooting Guide]] ''Coming Soon!''<br />
*[[Contact Us]]<br />
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<font size="5">User's Manual</font><br><br />
<br />
[[Image:AllegroManualIcon.jpg | link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]<br />
[[File:AllegroHandUsersManual.pdf]]<br />
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<font size="5">Brochure</font><br><br />
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[[Image:AllegroBrochureIcon.jpg| link=http://simlab.dyndns.org:9000/AllegroHandWiki/images/1/1e/AllegroHandBrochure.pdf]]<br />
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<br><br><br />
{{alert error dismiss header}}<br />
'''Alert! Customer pages now require login credentials to access!'''<br><br />
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email Alex [alexalspach at simlab.co.kr]. Thanks.<br />
{{alert error dismiss footer}}<br />
<br />
<br><br />
<center><br />
<font size="5">Customers</font><br><br><br />
{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}<br />
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{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}<br />
{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}<br />
{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}<br />
{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}<br />
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<br />
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</center><br />
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<!--<br />
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<font size="5">Customers</font><br><br><br />
[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]<br />
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[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]<br />
[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]<br />
[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]<br />
[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]<br />
[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]<br />
[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]<br />
[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]<br />
[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]<br />
<br />
</center><br />
<br />
{{4 Customer Logos|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|EPFL|png|130px|EPFL - Swiss Federal Institutes of Technology|}}<br />
<br />
--><br />
<br />
*[[EPFL: Allegro Hand]]<br />
*[[KIST_OH: Allegro Hand]]<br />
*[[KIST_YU: Allegro Hand]]<br />
*[[KIST_KIM: Allegro Hand]]<br />
*[[SKKU:Allegro Hand]]<br />
*[[Hyosung:Allegro Hand]]<br />
*[[KIMM:Allegro Hand]]<br />
*[[TUBerlin:Allegro Hand]]<br />
*[[Stanford:Allegro Hand]]<br />
*[[UPC:Allegro Hand]]<br />
*[[Alicante:Allegro Hand]]<br />
*[[Weiss:Allegro Hand]]<br />
*[[Siena:Allegro Hand]]<br />
*[[ISAN:Allegro Hand]]<br />
<br><br />
*[[Internal_Ltd:Interns|SimLab Interns]]<br />
*[[Dev:Index|SimLab Development]]<br />
*[[AHAS Patches]]<br />
<br />
<br />
[[Rock Paper Scissors]]<br />
<br />
[[Sensor Options]]<br />
<br />
<!--<br />
[[File:NI-CAN_DRIVER_v274.zip]]<br><br />
[[File:nicandll.zip]]<br />
--><br />
<!--<br />
[[About This Wiki]]<br><br />
<br />
[[Special:AWCforum|Allegro Hand Forum]] <br><br />
[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br><br />
<br />
<br />
<font size="5">[[Getting Started]]</font><br><br />
Just got your Allegro Hand? See out [[Getting Started]] guide for product installation and use.<br />
[[Maintenance and Repair]]<br><br />
<br />
<br />
[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br><br />
<br />
[[About This Wiki]]<br><br />
<br><br><br><br />
<br />
[[Suggestions]]<br />
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[[AHAS Suggestions]]<br />
<br />
<br />
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Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Sensor_Options
Sensor Options
2014-05-29T01:07:52Z
<p>Alexalspach: </p>
<hr />
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{{alert success header}}<br />
<center>'''Multiple fingertip sensor options, as well as a small IMU, can be purchased along with the Allegro Hand.'''</center><br />
{{alert success footer}}<br />
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{{Sensor Photos}}<br />
<br />
__TOC__<br />
----<br />
<br />
<br />
==BioTac Sensor Kit for Allegro Hand==<br />
<br />
<!-- [[image:BioTac_485.jpg|200px]] --><br />
[[image:BioTac AllegroHand.png|300px]]<br />
<br />
'''Product Page:''' [http://www.syntouchllc.com/Products/BioTac/ Syntouch BioTac kit for the Allegro Hand]<br />
<br />
<br />
===Features===<br />
<br />
*Multimodal tactile sensing<br />
*Can be used to develop intelligent reflexes<br />
*Simple installation<br />
<br />
<br />
===System Contents===<br />
<br />
*4 BioTacs<br />
*4 Allegro Hand adapters<br />
*Cables<br />
*4 Test Cores<br />
*BioTac maintenance kit<br />
*Development kit<br />
<br />
<br />
<br />
----<br />
<br />
<br />
==Weiss Tactile Sensors==<br />
<br />
'''Product Page:''' [http://www.weiss-robotics.de/en/tactile-sensing/sensor-kits/wrt-104.html WRT 104 - Tactile Sensor System for Allegro Hand.]<br />
<br />
<br />
===Features===<br />
*Compact design without any extra components<br />
*Direct connection to a control computer possible<br />
*High sensitivity and dynamics<br />
*Low crosstalk<br />
<br />
<br />
===Areas of application===<br />
*Reactive gripping<br />
*Tactile exploration<br />
*Test and measurement<br />
*Service robotics and human-machine interaction<br />
<br />
<br />
<br />
----<br />
<br />
<br />
==Withrobot Attitude & Heading Reference Sensor==<br />
<br />
'''myAHRS''' is a sensor module which provides Attitude & Heading Reference in 3-D space. <br />
<br />
<br />
[[image:Withrobot_MyAHRS.png|200px]]<br />
<br />
'''Product Page:''' [http://www.withrobot.com/myahrs_en/ Withrobot myAHRS]<br />
<br />
<br />
===Features===<br />
*High speed data interface: UART/USB (100Hz), I2C (1kHz)<br />
*Heading range: -180{{deg}} ~ 180{{deg}} (magnetic north base)<br />
*Roll range: -180{{deg}} ~ 180{{deg}}<br />
*Pitch range: -90{{deg}} ~ 90{{deg}}<br />
*Easy to calibrate and update firmware<br />
*Includes software for data visualization</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Sensor_Options
Sensor Options
2014-05-29T01:07:31Z
<p>Alexalspach: </p>
<hr />
<div><br />
<br />
{{alert success header}}<br />
<center>'''Multiple fingertip sensor options, as well as a small IMU, can be purchased along with the Allegro Hand.'''</center><br />
{{alert success footer}}<br />
<br />
<!--<br />
[[Image:AllegroHandSensor_Biotac_thumb_square.jpg|100px]]<br />
[[Image:AllegroHandSensor_Weiss_thumb_square.jpg|100px]]<br />
[[Image:AllegroHandSensor_Withrobot_thumb_square.jpg|100px]]<br />
--><br />
{{Sensor Photos}}<br />
<br />
__TOC__<br />
----<br />
<br />
<br />
==BioTac Sensor Kit for Allegro Hand==<br />
<br />
<!-- [[image:BioTac_485.jpg|200px]] --><br />
[[image:BioTac AllegroHand.png|300px]]<br />
<br />
'''Product Page:''' [http://www.syntouchllc.com/Products/BioTac/ Syntouch BioTac]<br />
<br />
<br />
===Features===<br />
<br />
*Multimodal tactile sensing<br />
*Can be used to develop intelligent reflexes<br />
*Simple installation<br />
<br />
<br />
===System Contents===<br />
<br />
*4 BioTacs<br />
*4 Allegro Hand adapters<br />
*Cables<br />
*4 Test Cores<br />
*BioTac maintenance kit<br />
*Development kit<br />
<br />
<br />
<br />
----<br />
<br />
<br />
==Weiss Tactile Sensors==<br />
<br />
'''Product Page:''' [http://www.weiss-robotics.de/en/tactile-sensing/sensor-kits/wrt-104.html WRT 104 - Tactile Sensor System for Allegro Hand.]<br />
<br />
<br />
===Features===<br />
*Compact design without any extra components<br />
*Direct connection to a control computer possible<br />
*High sensitivity and dynamics<br />
*Low crosstalk<br />
<br />
<br />
===Areas of application===<br />
*Reactive gripping<br />
*Tactile exploration<br />
*Test and measurement<br />
*Service robotics and human-machine interaction<br />
<br />
<br />
<br />
----<br />
<br />
<br />
==Withrobot Attitude & Heading Reference Sensor==<br />
<br />
'''myAHRS''' is a sensor module which provides Attitude & Heading Reference in 3-D space. <br />
<br />
<br />
[[image:Withrobot_MyAHRS.png|200px]]<br />
<br />
'''Product Page:''' [http://www.withrobot.com/myahrs_en/ Withrobot myAHRS]<br />
<br />
<br />
===Features===<br />
*High speed data interface: UART/USB (100Hz), I2C (1kHz)<br />
*Heading range: -180{{deg}} ~ 180{{deg}} (magnetic north base)<br />
*Roll range: -180{{deg}} ~ 180{{deg}}<br />
*Pitch range: -90{{deg}} ~ 90{{deg}}<br />
*Easy to calibrate and update firmware<br />
*Includes software for data visualization</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/MediaWiki:Bootstrap-navbar
MediaWiki:Bootstrap-navbar
2014-05-28T05:02:16Z
<p>Alexalspach: </p>
<hr />
<div>* General<br />
** [[Allegro Hand Overview]]<br />
** [[Purchasing]]<br />
* Tech Info<br />
** [[Allegro Hand Overview]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
** [[Joint Dimensions and Directions]]<br />
** [[Mounting Information]]<br />
** [[Fingertip Sensor Mounting Information]]<br />
** [[Joint Limits]]<br />
** [[Link Masses]]<br />
** [[Home Position Joint Angles]]<br />
** [[Ribbon Cable Replacement]]<br />
** [[CAN Protocol]]<br />
** [[CAN Options]]<br />
** [[Troubleshooting Guide]]<br />
* Setup<br />
** [[Allegro Application Studio (Installation)]]<br />
** [[Allegro Application Studio (User Manual)]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
* Tutorials<br />
** [[Allegro Application Studio (Installation)]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
** [[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
** [[2. Allegro Hand Joint Position Control]]<br />
** [[3. Interfacing with the Actual Allegro Hand]]<br />
** [[4. AHAS Buttons and BHand Library Motions]]<br />
** [[5. Joint PD Control Without Hand Library]]<br />
* Support<br />
** [[Mounting Information]]<br />
** [[Fingertip Sensor Mounting Information]]<br />
** [[Ribbon Cable Replacement]]<br />
** [[Troubleshooting Guide]]<br />
* Downloads<br />
** [[Grasping Library for Linux]]<br />
** [[Allegro Hand RoboticsLab Project]]<br />
** [[Allegro Hand MSVS Project]]<br />
** [[Allegro Hand CAD]]<br />
* Customers<br />
** [[EPFL: Allegro Hand|EPFL]]<br />
** [[KIST_Customers|KIST]]<br />
** [[SKKU:Allegro Hand|SKKU]]<br />
** [[Hyosung:Allegro Hand|Hyosung]]<br />
** [[KIMM:Allegro Hand|KIMM]]<br />
** [[TUBerlin:Allegro Hand|T.U. Berlin]]<br />
** [[Stanford:Allegro Hand|Stanford]]<br />
** [[UPC:Allegro Hand|UPC]]<br />
** [[Alicante:Allegro Hand|Alicante]]<br />
** [[Weiss:Allegro Hand|Weiss]]<br />
** [[Siena:Allegro Hand|Siena]]<br />
** [[ISAN:Allegro Hand|ISAN]]<br />
** [[Microsoft Research:Allegro Hand|Microsoft Research]]<br />
* [[Special:AWCforum|Forum]]<br />
* [[Contact Us]]</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/MediaWiki:Bootstrap-navbar
MediaWiki:Bootstrap-navbar
2014-05-28T05:00:32Z
<p>Alexalspach: </p>
<hr />
<div>* General<br />
** [[Allegro Hand Overview]]<br />
** [[Purchasing]]<br />
* Tech Info<br />
** [[Allegro Hand Overview]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
** [[Joint Dimensions and Directions]]<br />
** [[Mounting Information]]<br />
** [[Fingertip Sensor Mounting Information]]<br />
** [[Joint Limits]]<br />
** [[Link Masses]]<br />
** [[Home Position Joint Angles]]<br />
** [[Ribbon Cable Replacement]]<br />
** [[CAN Protocol]]<br />
** [[CAN Options]]<br />
** [[Troubleshooting Guide]]<br />
* Setup<br />
** [[Allegro Application Studio (Installation)]]<br />
** [[Allegro Application Studio (User Manual)]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
* Tutorials<br />
** [[Allegro Application Studio (Installation)]]<br />
** [[Joint Zeros and Directions Setup Guide]]<br />
** [[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]<br />
** [[2. Allegro Hand Joint Position Control]]<br />
** [[3. Interfacing with the Actual Allegro Hand]]<br />
** [[4. AHAS Buttons and BHand Library Motions]]<br />
** [[5. Joint PD Control Without Hand Library]]<br />
* Support<br />
** [[Mounting Information]]<br />
** [[Fingertip Sensor Mounting Information]]<br />
** [[Ribbon Cable Replacement]]<br />
** [[Troubleshooting Guide]]<br />
* Downloads<br />
** [[Grasping Library for Linux]]<br />
** [[Allegro Hand RoboticsLab Project]]<br />
** [[Allegro Hand MSVS Project]]<br />
** [[Allegro Hand CAD]]<br />
* Customers<br />
** [[EPFL: Allegro Hand|EPFL]]<br />
** [[KIST_OH: Allegro Hand]]<br />
** [[KIST_YU: Allegro Hand]]<br />
** [[KIST_KIM: Allegro Hand]]<br />
** [[SKKU:Allegro Hand]]<br />
** [[Hyosung:Allegro Hand]]<br />
** [[KIMM:Allegro Hand]]<br />
** [[TUBerlin:Allegro Hand]]<br />
** [[Stanford:Allegro Hand]]<br />
** [[UPC:Allegro Hand]]<br />
** [[Alicante:Allegro Hand]]<br />
** [[Weiss:Allegro Hand]]<br />
** [[Siena:Allegro Hand]]<br />
** [[ISAN:Allegro Hand]]<br />
** [[Microsoft Research:Allegro Hand]]<br />
* [[Special:AWCforum|Forum]]<br />
* [[Contact Us]]</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Template:SAH030AL026_Offsets_and_Directions_(ROS)
Template:SAH030AL026 Offsets and Directions (ROS)
2014-05-27T08:41:03Z
<p>Alexalspach: Created page with "'''zero.yaml:''' <pre> #SAH030AL026 #The YAML file used by the Allegro Hand Node is named "zero.yaml" hand_info: control_period_s: 0.003 DOF: 16 which_hand: 'left' robot..."</p>
<hr />
<div>'''zero.yaml:'''<br />
<br />
<pre><br />
#SAH030AL026<br />
#The YAML file used by the Allegro Hand Node is named "zero.yaml"<br />
<br />
hand_info:<br />
control_period_s: 0.003<br />
DOF: 16<br />
which_hand: 'left'<br />
robot_name: 'Allegro Hand'<br />
manufacturer: 'SimLab Co. Ltd.'<br />
origin: 'Seoul, South Korea'<br />
serial: 'SAH030AL026'<br />
version: 3.0<br />
<br />
zero:<br />
encoder_offset:<br />
j00: 3220<br />
j01: 124<br />
j02: -2876<br />
j03: 387<br />
j10: -767<br />
j11: 1386<br />
j12: 15<br />
j13: -2230<br />
j20: -116<br />
j21: 1409<br />
j22: -2041<br />
j23: -951<br />
j30: -424<br />
j31: -442<br />
j32: -28<br />
j33: -1290<br />
<br />
encoder_direction:<br />
j00: +1<br />
j01: +1<br />
j02: +1<br />
j03: +1<br />
j10: +1<br />
j11: +1<br />
j12: +1<br />
j13: +1<br />
j20: +1<br />
j21: +1<br />
j22: +1<br />
j23: +1<br />
j30: +1<br />
j31: +1<br />
j32: +1<br />
j33: +1<br />
<br />
motor_direction:<br />
j00: +1<br />
j01: +1<br />
j02: +1<br />
j03: +1<br />
j10: +1<br />
j11: +1<br />
j12: +1<br />
j13: +1<br />
j20: +1<br />
j21: +1<br />
j22: +1<br />
j23: +1<br />
j30: +1<br />
j31: +1<br />
j32: +1<br />
j33: +1<br />
<br />
</pre></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-05-27T08:40:10Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)<br>'''Serial Number:''' SAH030AL026 (Left, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
'''Download DMLs for your hand: ''' <br />
*[[File:SAH030AR022 DMLs.zip]]<br />
*[[File:SAH030AL026 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}<br />
<br />
<br />
===SAH030AL026 (Left)===<br />
{{Offsets and Directions|SAH030AL026}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/File:SAH030AL026_DMLs.zip
File:SAH030AL026 DMLs.zip
2014-05-27T08:39:34Z
<p>Alexalspach: </p>
<hr />
<div></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-05-27T08:39:05Z
<p>Alexalspach: /* SAH030AL026 (Right) */</p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)<br>'''Serial Number:''' SAH030AL026 (Left, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR022 DMLs.zip]], [[File:SAH030AL026 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}<br />
<br />
<br />
===SAH030AL026 (Left)===<br />
{{Offsets and Directions|SAH030AL026}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Template:SAH030AL026_Offsets_and_Directions
Template:SAH030AL026 Offsets and Directions
2014-05-27T08:38:53Z
<p>Alexalspach: Created page with "'''Last updated:''' <br> --~~~~ {| style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-a..."</p>
<hr />
<div>'''Last updated:''' <br><br />
--[[User:Alexalspach|Alex Alspach]] ([[User talk:Alexalspach|talk]]) 17:38, 27 May 2014 (KST)<br />
<br />
{| style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; width: 700px"<br />
|-style="background: #D0D0D0"<br />
|'''Finger'''<br />
|'''Joint'''<br />
|'''Encoder Offsets'''<br>''encoder_offset''<br />
|'''Encoder Directions'''<br>''encoder_direction''<br />
|'''Motor Directions'''<br>''motor_direction''<br />
|-style="background: #F0F0F0"<br />
| 0<br />
| 0<br />
| 3220<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 1<br />
| 124<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 2<br />
| -2876<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 3<br />
| 387<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 1<br />
| 0<br />
| -767<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 1<br />
| 1386<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 2<br />
| 15<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 3<br />
| -2230<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 2<br />
| 0<br />
| -116<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 1<br />
| 1409<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 2<br />
| -2041<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 3<br />
| -951<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 3<br />
| 0<br />
| -424<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 1<br />
| -442<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 2<br />
| -28<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 3<br />
| -1290<br />
| +<br />
| +<br />
|-<br />
|}<br />
<br></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-05-27T08:37:26Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)<br>'''Serial Number:''' SAH030AL026 (Left, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR022 DMLs.zip]], [[File:SAH030AL026 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}<br />
<br />
<br />
===SAH030AL026 (Right)===<br />
{{Offsets and Directions|SAH030AL026}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Template:SAH020BR0015_Offsets_and_Directions_(ROS)
Template:SAH020BR0015 Offsets and Directions (ROS)
2014-05-08T08:30:34Z
<p>Alexalspach: Created page with "'''zero.yaml''' <pre> #SAH020BR015 #The YAML file used by the Allegro Hand Node is named "zero.yaml" hand_info: control_period_s: 0.003 DOF: 16 which_hand: 'right' robot..."</p>
<hr />
<div>'''zero.yaml'''<br />
<br />
<pre><br />
#SAH020BR015<br />
#The YAML file used by the Allegro Hand Node is named "zero.yaml"<br />
<br />
hand_info:<br />
control_period_s: 0.003<br />
DOF: 16<br />
which_hand: 'right'<br />
robot_name: 'Allegro Hand'<br />
manufacturer: 'SimLab Co. Ltd.'<br />
origin: 'Seoul, South Korea'<br />
serial: 'SAH020BR015'<br />
version: 3.0<br />
<br />
zero:<br />
encoder_offset:<br />
j00: 296<br />
j01: 189<br />
j02: 2652<br />
j03: -509<br />
j10: -16<br />
j11: 302<br />
j12: 1005<br />
j13: 1903<br />
j20: 1499<br />
j21: 1034<br />
j22: -1232<br />
j23: 1012<br />
j30: 470<br />
j31: -6<br />
j32: -76<br />
j33: 145<br />
<br />
encoder_direction:<br />
j00: +1<br />
j01: +1<br />
j02: +1<br />
j03: +1<br />
j10: +1<br />
j11: +1<br />
j12: +1<br />
j13: +1<br />
j20: +1<br />
j21: +1<br />
j22: +1<br />
j23: +1<br />
j30: +1<br />
j31: +1<br />
j32: +1<br />
j33: +1<br />
<br />
motor_direction:<br />
j00: +1<br />
j01: +1<br />
j02: +1<br />
j03: +1<br />
j10: +1<br />
j11: +1<br />
j12: +1<br />
j13: +1<br />
j20: +1<br />
j21: +1<br />
j22: +1<br />
j23: +1<br />
j30: +1<br />
j31: +1<br />
j32: +1<br />
j33: +1<br />
</pre></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Template:SAH020BR0015_Offsets_and_Directions
Template:SAH020BR0015 Offsets and Directions
2014-05-08T08:30:05Z
<p>Alexalspach: Created page with "'''Last updated:''' <br> --~~~~ {| style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-a..."</p>
<hr />
<div>'''Last updated:''' <br><br />
--[[User:Alexalspach|Alex Alspach]] ([[User talk:Alexalspach|talk]]) 17:30, 8 May 2014 (KST)<br />
<br />
{| style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; width: 700px"<br />
|-style="background: #D0D0D0"<br />
|'''Finger'''<br />
|'''Joint'''<br />
|'''Encoder Offsets'''<br>''encoder_offset''<br />
|'''Encoder Directions'''<br>''encoder_direction''<br />
|'''Motor Directions'''<br>''motor_direction''<br />
|-style="background: #F0F0F0"<br />
| 0<br />
| 0<br />
| 296<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 1<br />
| 189<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 2<br />
| 2652<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 3<br />
| -509<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 1<br />
| 0<br />
| -16<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 1<br />
| 302<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 2<br />
| 1005<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 3<br />
| 1903<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 2<br />
| 0<br />
| 1499<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 1<br />
| 1034<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 2<br />
| -1232<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 3<br />
| 1012<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 3<br />
| 0<br />
| 470<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 1<br />
| -6<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 2<br />
| -76<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 3<br />
| 145<br />
| +<br />
| +<br />
|-<br />
|}<br />
<br></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Stanford:Allegro_Hand
Stanford:Allegro Hand
2014-05-08T08:26:33Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:StanfordLogo.jpg|100px]]</center><br />
<br><br />
<center>'''Serial Number:''' SAH020BR0015 (Right)</center><br />
<br><br />
<br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH020BR0015 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH020BR0015 (Right)===<br />
{{Offsets and Directions|SAH020BR0015}}<br />
<br />
<br />
<br />
<br />
<br />
<br />
<br />
----<br />
<br />
<br />
{{How to Change the CAN Port}}<br />
<br />
<br />
<br />
==Softing CAN==<br />
The CAN device driver included with AHAS may not work with all Softing devices based on the name of the channel.<br />
The device included with AHAS used the channel name '''"CAN-ACx-PCI_#"''' while yours may use '''"CAN-AC PCI_#"'''.<br />
<br />
For CAN devices requiring the channel name '''"CAN-AC PCI_#"''', you can replace the current Softing CAN device driver with the following file.<br />
<br />
[[File:rDeviceERHandSoftingCAN.rdd.zip]]<br />
<br />
<br />
Backup and replace the file '''"rDeviceERHandSoftingCAN.rdd"''' at<br />
<br />
[AHAS Install Directory]\bin\models\devices<br />
<br />
<br />
==Offsets and Directions==<br />
{{Offsets and Directions|SAH020BR00XX }}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Template:SAH030AR024_Offsets_and_Directions_(ROS)
Template:SAH030AR024 Offsets and Directions (ROS)
2014-04-30T04:05:46Z
<p>Alexalspach: Created page with "'''zero.yaml''' <pre> #SAH030AR024 #The YAML file used by the Allegro Hand Node is named "zero.yaml" hand_info: control_period_s: 0.003 DOF: 16 which_hand: 'right' robot..."</p>
<hr />
<div>'''zero.yaml'''<br />
<br />
<pre><br />
#SAH030AR024<br />
#The YAML file used by the Allegro Hand Node is named "zero.yaml"<br />
<br />
hand_info:<br />
control_period_s: 0.003<br />
DOF: 16<br />
which_hand: 'right'<br />
robot_name: 'Allegro Hand'<br />
manufacturer: 'SimLab Co. Ltd.'<br />
origin: 'Seoul, South Korea'<br />
serial: 'SAH030AR024'<br />
version: 3.0<br />
<br />
zero:<br />
encoder_offset:<br />
j00: 1898<br />
j01: -340<br />
j02: -899<br />
j03: 1143<br />
j10: -846<br />
j11: -2312<br />
j12: 710<br />
j13: -564<br />
j20: 338<br />
j21: 1375<br />
j22: -35<br />
j23: -48<br />
j30: 3081<br />
j31: 196<br />
j32: 1717<br />
j33: -1152<br />
<br />
encoder_direction:<br />
j00: +1<br />
j01: +1<br />
j02: +1<br />
j03: +1<br />
j10: +1<br />
j11: +1<br />
j12: +1<br />
j13: +1<br />
j20: +1<br />
j21: +1<br />
j22: +1<br />
j23: +1<br />
j30: +1<br />
j31: +1<br />
j32: +1<br />
j33: +1<br />
<br />
motor_direction:<br />
j00: +1<br />
j01: +1<br />
j02: +1<br />
j03: +1<br />
j10: +1<br />
j11: +1<br />
j12: +1<br />
j13: +1<br />
j20: +1<br />
j21: +1<br />
j22: +1<br />
j23: +1<br />
j30: +1<br />
j31: +1<br />
j32: +1<br />
j33: +1<br />
</pre></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Template:SAH030AR024_Offsets_and_Directions
Template:SAH030AR024 Offsets and Directions
2014-04-30T04:05:06Z
<p>Alexalspach: Created page with "'''Last updated:''' <br> --~~~~ {| style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-a..."</p>
<hr />
<div>'''Last updated:''' <br><br />
--[[User:Alexalspach|Alex Alspach]] ([[User talk:Alexalspach|talk]]) 13:05, 30 April 2014 (KST)<br />
<br />
{| style=" border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; width: 700px"<br />
|-style="background: #D0D0D0"<br />
|'''Finger'''<br />
|'''Joint'''<br />
|'''Encoder Offsets'''<br>''encoder_offset''<br />
|'''Encoder Directions'''<br>''encoder_direction''<br />
|'''Motor Directions'''<br>''motor_direction''<br />
|-style="background: #F0F0F0"<br />
| 0<br />
| 0<br />
| 1898<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 1<br />
| -340<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 2<br />
| -899<br />
| +<br />
| +<br />
|-<br />
| 0<br />
| 3<br />
| 1143<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 1<br />
| 0<br />
| -846<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 1<br />
| -2312<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 2<br />
| 710<br />
| +<br />
| +<br />
|-<br />
| 1<br />
| 3<br />
| -564<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 2<br />
| 0<br />
| 338<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 1<br />
| 1375<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 2<br />
| -35<br />
| +<br />
| +<br />
|-<br />
| 2<br />
| 3<br />
| -48<br />
| +<br />
| +<br />
|-<br />
|-style="background: #F0F0F0"<br />
| 3<br />
| 0<br />
| 3081<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 1<br />
| 196<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 2<br />
| 1717<br />
| +<br />
| +<br />
|-<br />
| 3<br />
| 3<br />
| -1152<br />
| +<br />
| +<br />
|-<br />
|}<br />
<br></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/File:SAH030AR024_DMLs.zip
File:SAH030AR024 DMLs.zip
2014-04-30T03:55:45Z
<p>Alexalspach: </p>
<hr />
<div></div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Microsoft_Research:Allegro_Hand
Microsoft Research:Allegro Hand
2014-04-30T03:53:03Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:MSLogo.jpg|300px]]</center><br />
<center>'''Serial Number:''' SAH030AR024 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR024 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR024 (Right)===<br />
{{Offsets and Directions|SAH030AR024}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Microsoft_Research:Allegro_Hand
Microsoft Research:Allegro Hand
2014-04-30T03:52:47Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:MSLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR024 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR024 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR024 (Right)===<br />
{{Offsets and Directions|SAH030AR024}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Microsoft_Research:Allegro_Hand
Microsoft Research:Allegro Hand
2014-04-30T03:52:37Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR024 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR024 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR024 (Right)===<br />
{{Offsets and Directions|SAH030AR024}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-04-30T03:44:26Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download DMLs for your hand: ''' [[File:SAH030AR022 DMLs.zip]]<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-04-30T03:44:07Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
{{alert success header}}<br />
*'''Download: ''' [[File:SAH030AR022 DMLs.zip]]'<br />
{{alert success footer}}<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-04-30T03:43:11Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
*'''Download: ''' [[File:SAH030AR022 DMLs.zip]]'<br />
<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-04-30T03:43:02Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
*'''Download: ''' [[File:SAH030AR022 DMLs.zip]]'<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-04-30T03:42:50Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
''''Download: ''' [[File:SAH030AR022 DMLs.zip]]'<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ISAN:Allegro_Hand
ISAN:Allegro Hand
2014-04-30T03:42:16Z
<p>Alexalspach: </p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR022 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR022 (Right)===<br />
{{Offsets and Directions|SAH030AR022}}</div>
Alexalspach
http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Microsoft_Research:Allegro_Hand
Microsoft Research:Allegro Hand
2014-04-30T03:40:48Z
<p>Alexalspach: Created page with "<br> <center>200px</center> <center>'''Serial Number:''' SAH030AR024 (Right, v3.0)</center> <br> {{Getting started}} <br><br><br> ==Allegro Hand App..."</p>
<hr />
<div><br><br />
<center>[[Image:ISANLogo.jpg|200px]]</center><br />
<center>'''Serial Number:''' SAH030AR024 (Right, v3.0)</center><br />
<br><br />
<br />
<br />
{{Getting started}}<br />
<br><br><br><br />
<br />
<br />
==Allegro Hand Application Studio (AHAS)==<br />
{{AHAS Latest Version}}<br />
<br />
<br />
<br />
{{Software Downloads}}<br />
<br><br><br><br />
<br />
<br />
==Offsets and Directions==<br />
===SAH030AR024 (Right)===<br />
{{Offsets and Directions|SAH030AR024}}</div>
Alexalspach