Allegro Hand Revision as of 10:39, 29 May 2014 by Alexalspach (Talk | contribs) (diff) ← Older revision | Latest revision (diff) | Newer revision → (diff)

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.

Learn more

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Multiple sensing options are now available for the Allegro Hand!

A variety of fingertip sensors as well as an attitude and heading reference sensor
can now be purchased as add-ons to the hand.

Sensor Options

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SimLab's Allegro Hand v3.0 has been released!
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.

  • Allegro Application Studio (Installation)
  • Allegro Application Studio (User Manual)

• 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.

  • 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.

  • CAN Options

• 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!
    • 1. Setup: DLL Project, Control XDL & the AHAS Lua file
    • 2. Allegro Hand Joint Position Control (Virtual Hand)
    • 3. Interfacing with the Actual Allegro Hand
    • 4. AHAS Buttons and BHand Library Motions
    • 5. Joint PD Control Without Hand Library

• 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:

  • ROS.org/wiki/Robots/AllegroHand

• Questions? Comments? Concerns?

  SimLab 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

• Brochure
  

  

× Alert! Customer pages now require login credentials to access!
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.

Customers

• 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
• Alicante:Allegro Hand
• Weiss:Allegro Hand
• Siena:Allegro Hand
• ISAN:Allegro Hand

• SimLab Interns
• SimLab Development
• AHAS Patches

Rock Paper Scissors

Sensor Options

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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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