Difference between revisions of "Allegro Hand"
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+ | {{margin|10px}}[[Image:HOME 240119.png|800px|link=https://www.allegrohand.com/]]{{/margin}} | ||
+ | {{/margin}} | ||
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+ | </center> | ||
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<div class="hero-unit"> | <div class="hero-unit"> | ||
<center> | <center> | ||
<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br> | <font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></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> | <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> | ||
− | <a href="http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/ | + | <a href="http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand_v4.0" class="btn btn-primary btn-large">Learn more</a> |
</center> | </center> | ||
</div></html> | </div></html> | ||
+ | {{alert success header}} | ||
+ | '''Allegro Hand v4.0 has been released!'''<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 [robotics.biz@wonik.com] with any questions. | ||
+ | |||
+ | ''' [[Allegro Hand v4.0 | Allegro Hand v4.0 information]].''' | ||
+ | {{alert success footer}} | ||
{{Front page hand photos}} | {{Front page hand photos}} | ||
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<center> | <center> | ||
</br></br> | </br></br> | ||
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<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br> | <font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></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> | <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> | ||
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Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use. For Linux users, please refer to Allegro Hand Linux Project. | Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use. For Linux users, please refer to Allegro Hand Linux Project. | ||
+ | <br><br><font size="3">version 3.0</font> | ||
*[[Allegro Application Studio (Installation)]] | *[[Allegro Application Studio (Installation)]] | ||
*[[Allegro Application Studio (User Manual)]] | *[[Allegro Application Studio (User Manual)]] | ||
*[[Allegro Hand Linux Project]] | *[[Allegro Hand Linux Project]] | ||
+ | <br><font size="3">version 4.0</font> | ||
+ | *[[Programming Guides v4.0]] <br> | ||
+ | version 4.0 does not support Allegro Hand Application Studio | ||
+ | |||
<!--*[[Joint Zeros and Directions Setup Guide]]--> | <!--*[[Joint Zeros and Directions Setup Guide]]--> | ||
<html> | <html> | ||
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Technical info about the Allegro Hand hardware can be found below. | Technical info about the Allegro Hand hardware can be found below. | ||
+ | <br><br><font size="3">version 3.0</font> | ||
*[[Joint Dimensions and Directions]] [[http://wiki.wonikrobotics.com/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]] | *[[Joint Dimensions and Directions]] [[http://wiki.wonikrobotics.com/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]] | ||
*[[Joint Zeros and Directions Setup Guide]] | *[[Joint Zeros and Directions Setup Guide]] | ||
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*[[Fingertip Sensor Mounting Information]] | *[[Fingertip Sensor Mounting Information]] | ||
*[[Ribbon Cable Replacement]] | *[[Ribbon Cable Replacement]] | ||
+ | <br><font size="3">version 4.0</font> | ||
+ | *[[Mounting Information v4.0]] | ||
+ | *[[CAN Protocol v4.0]] | ||
+ | *[[Wiring for Allegro Hand v4.0]] | ||
+ | |||
<html> | <html> | ||
</li> | </li> | ||
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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. | 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><br><font size="3">version 3.0</font> | ||
*[[CAN Options]] | *[[CAN Options]] | ||
*[[CAN Protocol]] [[http://wiki.wonikrobotics.com/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br> | *[[CAN Protocol]] [[http://wiki.wonikrobotics.com/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br> | ||
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**[[4. AHAS Buttons and BHand Library Motions]] | **[[4. AHAS Buttons and BHand Library Motions]] | ||
**[[5. Joint PD Control Without Hand Library]] | **[[5. Joint PD Control Without Hand Library]] | ||
+ | <br><font size="3">version 4.0</font><br> | ||
+ | ''' [[Allegro Hand v4.0 | Allegro Hand v4.0 information]].'''<br> | ||
+ | version 4.0 does not support Allegro Hand Application Studio | ||
+ | |||
+ | |||
<html> | <html> | ||
</li> | </li> | ||
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[[Image:AllegroManualIcon.jpg | link=http://wiki.wonikrobotics.com/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]] | [[Image:AllegroManualIcon.jpg | link=http://wiki.wonikrobotics.com/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]] | ||
− | [[File:AllegroHandUsersManual.pdf]] | + | <br>[[File:AllegroHandUsersManual.pdf]]<br> |
+ | [[File:v4_AllegroHandUsersManual_1.1.pdf]] | ||
</center> | </center> | ||
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<font size="5">Brochure</font><br> | <font size="5">Brochure</font><br> | ||
− | [[Image:AllegroBrochureIcon.jpg|90px|link=http:// | + | [[Image:AllegroBrochureIcon.jpg|90px|link=http://www.simlab.co.kr/brochures/Allegro-Hand-brochure.pdf]] |
</center> | </center> | ||
<html> | <html> | ||
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{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}} | {{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}} | ||
{{margin|10px}}[[Image:TUMunchenLogo.jpg|120px|link=TUMunchen:Allegro Hand|Technical University of Munich]]{{/margin}} | {{margin|10px}}[[Image:TUMunchenLogo.jpg|120px|link=TUMunchen:Allegro Hand|Technical University of Munich]]{{/margin}} | ||
+ | |||
{{margin|10px}}[[Image:WSDULogo.png|320px|link=WSDU:Allegro Hand|University of Waseda]]{{/margin}} | {{margin|10px}}[[Image:WSDULogo.png|320px|link=WSDU:Allegro Hand|University of Waseda]]{{/margin}} | ||
{{margin|10px}}[[Image:BAULogo.png|240px|link=BAU:Allegro Hand|Bahcesehir University]]{{/margin}} | {{margin|10px}}[[Image:BAULogo.png|240px|link=BAU:Allegro Hand|Bahcesehir University]]{{/margin}} | ||
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{{margin|10px}}[[Image:KITECHLogo.jpg|220px|link=KITECH:Allegro Hand|KITECH]]{{/margin}} | {{margin|10px}}[[Image:KITECHLogo.jpg|220px|link=KITECH:Allegro Hand|KITECH]]{{/margin}} | ||
{{margin|10px}}[[Image:KAISTLogo.jpg|220px|link=KAIST:Allegro Hand|KAIST]]{{/margin}} | {{margin|10px}}[[Image:KAISTLogo.jpg|220px|link=KAIST:Allegro Hand|KAIST]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:MITLogo.png|220px|link=MIT:Allegro Hand|Massachusetts Institute of Technology]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:TRILogo.png|170px|link=TRI:Allegro Hand|Toyota Research Institute]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:LGLogo.png|230px|link=LG:Allegro Hand|LG Electronics]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:facebookLogo.png|230px|link=FACEBOOK:Allegro Hand|Facebook]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:telexistenceLogo.png|200px|link=TELEXISTENCE:Allegro Hand|TELEXISTENCE]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:SCUTLogo.png|160px|link=SCUT:Allegro Hand|South China University of Technology]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:PNULogo.jpg|160px|link=PNU:Allegro Hand|Pusan National University]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:afinitiLogo.png|160px|link=AFINITI:Allegro Hand|afiniti]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:imperial_college_Logo.png|160px|link=Imperial_College:Allegro Hand|Imperial College London]]{{/margin}} | ||
+ | {{margin|10px}}[[Image:samsungLogo.png|190px|link=SAMSUNG_ELECTRONICS:Allegro Hand|SAMSUNG ELECTRONICS]]{{/margin}} | ||
</center> | </center> | ||
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− | ==Customers== | + | ==Customers (with version <= 3.0)== |
{{alert error dismiss header}} | {{alert error dismiss header}} | ||
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{{alert error dismiss footer}} | {{alert error dismiss footer}} | ||
+ | * [[AFINITI:Allegro Hand|afiniti]] | ||
* [[AIST:Allegro Hand|AIST]] | * [[AIST:Allegro Hand|AIST]] | ||
* [[Alicante:Allegro Hand|Alicante]] | * [[Alicante:Allegro Hand|Alicante]] | ||
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* [[DU:Allegro Hand|Dongguk University]] | * [[DU:Allegro Hand|Dongguk University]] | ||
* [[EPFL: Allegro Hand|EPFL]] | * [[EPFL: Allegro Hand|EPFL]] | ||
+ | * [[FACEBOOK: Allegro Hand|Facebook]] | ||
* [[GMU:Allegro Hand|GMU]] | * [[GMU:Allegro Hand|GMU]] | ||
* [[GoogleLLC:Allegro Hand|Google]] | * [[GoogleLLC:Allegro Hand|Google]] | ||
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* [[HYU:Allegro Hand|HYU]] | * [[HYU:Allegro Hand|HYU]] | ||
* [[HyundaiMotor:Allegro Hand|Hyundai Motor]] | * [[HyundaiMotor:Allegro Hand|Hyundai Motor]] | ||
+ | * [[Imperial_College:Allegro Hand|Imperial College London]] | ||
* [[ISAN:Allegro Hand|ISAN]] | * [[ISAN:Allegro Hand|ISAN]] | ||
* [[ITU:Allegro Hand|Istanbul Technical University]] | * [[ITU:Allegro Hand|Istanbul Technical University]] | ||
* [[IIT:Allegro Hand|Istituto Italiano di Tecnologia]] | * [[IIT:Allegro Hand|Istituto Italiano di Tecnologia]] | ||
− | * [[ | + | * [[KAIST:Allegro Hand|KAIST]] |
* [[KIMM:Allegro Hand|KIMM]] | * [[KIMM:Allegro Hand|KIMM]] | ||
* [[KIST_Customers|KIST]] | * [[KIST_Customers|KIST]] | ||
* [[KITECH:Allegro Hand|KITECH]] | * [[KITECH:Allegro Hand|KITECH]] | ||
* [[KRISS:Allegro Hand|KRISS]] | * [[KRISS:Allegro Hand|KRISS]] | ||
+ | * [[LG:Allegro Hand|LG Electronics]] | ||
* [[Michigan:Allegro Hand|Michigan]] | * [[Michigan:Allegro Hand|Michigan]] | ||
* [[Microsoft Research:Allegro Hand|Microsoft Research]] | * [[Microsoft Research:Allegro Hand|Microsoft Research]] | ||
+ | * [[MIT:Allegro Hand|MIT]] | ||
* [[Moley:Allegro Hand|Moley robotics]] | * [[Moley:Allegro Hand|Moley robotics]] | ||
* [[NIST:Allegro Hand|NIST]] | * [[NIST:Allegro Hand|NIST]] | ||
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* [[Okamura:Allegro Hand|Okamura]] | * [[Okamura:Allegro Hand|Okamura]] | ||
* [[OF:Allegro Hand|OptoForce]] | * [[OF:Allegro Hand|OptoForce]] | ||
+ | * [[PNU:Allegro Hand|Pusan National University]] | ||
* [[QMUL:Allegro Hand|QMUL]] | * [[QMUL:Allegro Hand|QMUL]] | ||
* [[RUTGERS:Allegro Hand|Rutgers The University of New Jersey]] | * [[RUTGERS:Allegro Hand|Rutgers The University of New Jersey]] | ||
+ | * [[SAMSUNG_ELECTRONICS:Allegro Hand|SAMSUNG ELECTRONICS]] | ||
+ | * [[SCUT:Allegro Hand|South China University of Technology]] | ||
* [[SNU:Allegro Hand|Seoul National University]] | * [[SNU:Allegro Hand|Seoul National University]] | ||
* [[Shinji:Allegro Hand|Shinji]] | * [[Shinji:Allegro Hand|Shinji]] | ||
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* [[SKKU:Allegro Hand|SKKU]] | * [[SKKU:Allegro Hand|SKKU]] | ||
* [[Stanford:Allegro Hand|Stanford]] | * [[Stanford:Allegro Hand|Stanford]] | ||
+ | * [[TELEXISTENCE:Allegro Hand|TELEXISTENCE]] | ||
+ | * [[TRI:Allegro Hand|Toyota Research Institute]] | ||
* [[TUBerlin:Allegro Hand|TUBerlin]] | * [[TUBerlin:Allegro Hand|TUBerlin]] | ||
* [[TUD:Allegro Hand|TUDarmstadt]] | * [[TUD:Allegro Hand|TUDarmstadt]] | ||
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* [[Weiss:Allegro Hand|Weiss]] | * [[Weiss:Allegro Hand|Weiss]] | ||
* [[WSDU:Allegro Hand|WSDU]] | * [[WSDU:Allegro Hand|WSDU]] | ||
− | |||
Revision as of 16:05, 19 January 2024
it's the perfect platform for grasp and manipulation research.
Learn more
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!
Please email [robotics.biz@wonik.com] with any questions.
Sensor Options
-
Just got your Allegro Hand?
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use. For Linux users, please refer to Allegro Hand Linux Project.
version 3.0- Allegro Application Studio (Installation)
- Allegro Application Studio (User Manual)
- Allegro Hand Linux Project
version 4.0version 4.0 does not support Allegro Hand Application Studio
-
Success Stories
Cutting edge research and Impressive demonstrations using the Allegro Hand
- Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!
- Allegro Hand and KUKA Arm Catching at EPFL
-
Hardware Information
Technical info about the Allegro Hand hardware can be found below.
version 3.0- Joint Dimensions and Directions [PDF]
- Joint Zeros and Directions Setup Guide
- Joint Limits
- Link Masses
- Home Position Joint Angles
- Mounting Information [PDF]
- Fingertip Sensor Mounting Information
- Ribbon Cable Replacement
version 4.0 -
Need a CAN communication interface?
WONIK ROBOTICS offers support for five CAN communication interfaces out-of-the-box.
For CAN product comparison, documentation and drivers, please visit out CAN Options page.
-
Developing your own algorithms?
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.
version 3.0- CAN Options
- CAN Protocol [PDF]
- Grasping Library for Linux
- Allegro Hand Linux Project
- Programming Guides Under Construction!
version 4.0
Allegro Hand v4.0 information.
version 4.0 does not support Allegro Hand Application Studio
-
ROS!
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:
-
Questions? Comments? Concerns?
WONIK ROBOTICS offers a 1-year hardware and software warranty along with fast and friendly technical support.
If you have an issue, feel free to contact us.- Forum
- Troubleshooting Guide Coming Soon!
- Contact Us
-
User's Manual
File:AllegroHandUsersManual.pdf
File:V4 AllegroHandUsersManual 1.1.pdf -
Brochure
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 [info@wonikrobotics.com]. Thanks.
Customers
Customers (with version <= 3.0)
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 [info@wonikrobotics.com]. Thanks.
- afiniti
- AIST
- Alicante
- BAU
- Dongguk University
- EPFL
- GMU
- Hyosung
- HYU
- Hyundai Motor
- Imperial College London
- ISAN
- Istanbul Technical University
- Istituto Italiano di Tecnologia
- KAIST
- KIMM
- KIST
- KITECH
- KRISS
- LG Electronics
- Michigan
- Microsoft Research
- MIT
- Moley robotics
- NIST
- NVIDIA
- Ocado
- Okamura
- OptoForce
- Pusan National University
- QMUL
- Rutgers The University of New Jersey
- SAMSUNG ELECTRONICS
- South China University of Technology
- Seoul National University
- Shinji
- Siena
- SKKU
- Stanford
- TELEXISTENCE
- Toyota Research Institute
- TUBerlin
- TUDarmstadt
- TUMunchen
- UC Berkeley
- UMASS LOWELL
- University of Lincoln
- University of Melbroune
- UPC
- Utah
- Weiss
- WSDU
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