File:MyAllegroHand Linux Project and

Git Repo

Build and Run

Note: This project is for PEAK System USB CAN chardev interface: PCAN-USB

1. Download, build, and install PCAN-USB driver for Linux: libpcan

tar -xzvf peak-linux-driver-x.x.tar.gz
cd peak-linux-driver-x.x
make NET=NO
sudo make install

2. Download, build, and install PCAN-Basic API for Linux: libpcanbasic

tar -xzvf PCAN_Basic_Linux-x.x.x.tar.gz
cd PCAN_Basic_Linux-x.x.x/pcanbasic
sudo make install

3. Download, build, and install Grasping Library for Linux, "libBHand": Grasping_Library_for_Linux

4. Build Allegro Hand project using cmake

cd AllegroHand
mkdir build
cd build
cmake ..
make install

Note: You will need to replace the encoder offsets and directions and the motor directions in the array at the top of the main.cpp file. These offsets can be found on the offsets and directions table on your Allegro Hand Wiki page (front page - scroll down): Allegro_Hand_DML_Info

5. Connect PCAN-USB and Allegro Hand (make sure to power off Allegro Hand)

6. Start the grasping program: "handTest"

cd bin

7. Power on Allegro Hand

8. Use keyboard command to move Allegro Hand!!!!

If you have any questions, feel free to ask.


Anonymous user #1

8 days ago
Score 0+

Nice. It jogs my memory of past events. I vividly recall the "Welcome to Allegro" demo that was played back in the day.


Anonymous user #2

7 days ago
Score 0+
PG SLOT โบนัส ที่ดีที่สุด ให้ทุกคนที่เป็น สมาชิกกับเราได้ลุ่นโบนัสพิเศษ สล็อต เริ่มหมุน มุนกงล้อได้ลุ้นรับโบนัส พิเศษได้แล้ววันนี้
Add your comment
Allegro Hand welcomes all comments. If you do not want to be anonymous, register or log in. It is free.

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

Wiki maintained by Sean Yi <>

KitechLogo.jpg Wonikrobotics logo.png

Whos here now:   Members 0   Guests 1   Bots & Crawlers 0