Difference between revisions of "Allegro Hand"
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Revision as of 16:27, 25 November 2014
it's the perfect platform for grasp and manipulation research.
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 Alex [alexalspach at simlab.co.kr] with any questions.
You can download the latest version of Allegro Application Studio here.
Just got your Allegro Hand?
Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use.
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
Technical info about the Allegro Hand hardware can be found below.
- 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
Need a CAN communication interface?
SimLab 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.
- CAN Options
- CAN Protocol [PDF]
- Grasping Library for Linux
- Programming Guides Under Construction!
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:
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.
- EPFL: Allegro Hand
- KIST_OH: Allegro Hand
- KIST_YU: Allegro Hand
- KIST_KIM: Allegro Hand
- SKKU:Allegro Hand
- Hyosung:Allegro Hand
- KIMM:Allegro Hand
- TUBerlin:Allegro Hand
- Stanford:Allegro Hand
- UPC:Allegro Hand
- PKNU:Allegro Hand
- Alicante:Allegro Hand
- Weiss:Allegro Hand
- Siena:Allegro Hand
- ISAN:Allegro Hand
- Microsoft Research:Allegro Hand
- TUMunchen:Allegro Hand
- WSDU:Allegro Hand
- BAU:Allegro Hand
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