Running AAS

When installing Allegro Application Studio (AAS), you were promted to select an installation path where are files associated with AAS would be stored. This installation path with be referred to as [installPath] from here on out.

Within the installation directory (at the top level), you will find a file titled Allegro.exe file. Also, a shortcut to this executable should have been placed on your desktop during installation. Double-click Allegro.exe to launch AAS for the Allegro Hand.

AllegroIcon.jpg

Which Hand?

When you first run Allegro Application Studio (AAS), you are promted to select the hand (right/left and actual/virtual) you would like to use.

HandSelection.jpg

Actual System refers to the Allegro Hand hardware. If an actual system is selected, AAS will load the corresponding (left/right) virtual model and open CAN communication with the actual Allegro Hand. The virtual Allegro Hand seen along with the Actual System simply mimics the joint kinematics (no physics or contact dynamics) of the actual system based on the encoder values obtained over CAN. Motion commands from AAS are send directly to the Actual System while the encoder feedback controls the AAS virtual hand.

If a virtual system is selected, a dynamic simulation is run using the Allegro Hand virtual model. This simulation includes full physics simulation including contact dynamics. The virtual system can be simulated without the actual system. This ability is useful for testing algorithms in a dynamics environment before trying them out of the actual hardware.

First, we will select the Virtual Left Hand System.




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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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