Allegro Hand v4.0
Features
Allegro Hand is a low-cost and highly adaptive robotic hand. |
With four fingers and sixteen independent current-controlled joints, it's the perfect platform for grasp and manipulation research. |
- Lightweight and portable anthropomorphic design
- Low-cost dexterous manipulation with applications in research and industry
- Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
- Capable of holding up to 5kg
- 16 (4 fingers x 4 DOF ea.) independent joints
- Each joint gets current command
- Support for real-time control
Tech Specs
Number of Fingers |
Four (4) fingers, including thumb | ||||||||
Degrees of Freedom |
4 fingers x 4 = 16 (Active) | ||||||||
Actuation |
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Weight |
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Joint Resolution |
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Communication |
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Payload |
5 (kg) | ||||||||
Power Requirement |
12~24V, 120W |
System Requirements
CPU |
Intel® Core™2 Duo or higher |
RAM |
at least 2GB |
HDD |
at least 2GB |
Graphics |
OpenGL 3.0 H/W Acceleration enabled with at least 64Mb of video RAM |
OS |
MS Windows® XP, MS Windows® Vista, MS Windows® 7 MS Windows® 8 Ubuntu 10.04-12.10 (ROS) Ubuntu 16.04 (ROS) |
Additional S/W |
MS Visual Studio® |
CAN Interface |
NI or PEAK CAN Note: Any CAN interface can be user-configured for use with the Allegro Hand. |
Product
The Allegro Hand comes with a simple software for developing and testing control algorithms for a variety of commercial robots. There are Linux version and Windows version.
In the Box
- Allegro Hand (Left or Right)
- Power Supply
- Allegro Hand stand
- CAN/Power cable (terminated on hand-end only)
- Protective Plastic Carrying Case
- Spare parts and tools
Allegro Hand User Manual
File:V4 AllegroHandUsersManual 1.1.pdf
Allegro Hand Programs
Software Git Repository
windows : windows-project
linux : linux-project
ROS : ros-kinetic-AllegroHand
Allegro Hand CAD File
Please, email us if you need Allegro Hand CAD STP file.
robotics.biz@wonik.com
Getting Started
File:AllegroHand - Troubleshooting & FAQ V1.01.pdf
- Programming Guides v4.0
- Mounting Information v4.0
- CAN Protocol v4.0
- Wiring for Allegro Hand v4.0
- LED signal of Allegro Hand v4.0
Purchasing
For a quote or any other inquiry, please contact us!
WONIK ROBOTICS
address | 4F, Wonik Bldg., Pangyo-ro 255-20, Bundang-gu, Seongnam-si, Gyunggi-do, 13486, KOREA |
phone | +82-31-8038-9180 |
fax | +82-31-8038-9190 |
robotics.biz@wonik.com |
Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.
Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).
Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804
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