Allegro Hand Overview Revision as of 19:08, 19 November 2012 by Alexalspach (Talk | contribs)
Contents |
Features
| 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. |
- Lightweight and portable anthropomorphic design
- Low-cost dexterous manipulation with applications in research and industry
- Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
- Capable of holding up to 1.5kg
- 16 independent current-controlled joints (4 fingers x 4 DOF ea.)
- Allegro Application Studio integration allows for simulation based algorithm prototyping without ever changing your code
- Support for real-time control and online simulation
Tech Specs
Number of Fingers |
Three (3) fingers and a thumb (1) = 4 | ||||||||
Degrees of Freedom |
4 fingers x 4 = 16 (Active) | ||||||||
Actuation |
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Weight |
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Joint Resolution |
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Communication |
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Payload |
0.5 (kg) for each finger, 1.5 (kg) total | ||||||||
Power Req. |
7.4VDC (7.0V - 8.1V), 5A (min) |
System Requirements
CPU |
Intel® Core™2 Duo or higher |
RAM |
at least 2GB |
HDD |
at least 2GB |
Graphics |
OpenGL 3.0 H/W Acceleration enabled with at least 64Mb of video RAM |
OS |
MS Windows® XP, MS Windows® Vista, MS Windows® 7 |
Additional S/W |
MS Visual Studio® |
CAN Interface |
NI, Softing, Kvaser or ESD CAN Note: Any CAN interface can be user-configured for use with the Allegro Hand. |
Product
The Allegro Hand comes with its own version of SimLab's Allegro Application Studio (AAS), a robotics software for developing and testing control algorithms for a variety of commercial robots. AAS for the Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab. Algorithms developed can be applied to the virtual hand as well as directly to the real hand without any changes to the code.
For more information, please visit our Allegro Application Studio website.
Purchasing Options
CAN Interface
A pre-reconfigured CAN interface can be purchased along with the Allegro Hand. The CAN interfaces available through SimLab include:
- National Instruments' (NI) USB-8473s High-Speed CAN
- Softing's CAN-AC2-PCI
- Kvaser's PCIcan 4xHS
- ESD's CAN-PCI/266
Protective Case
A hard plastic carrying case can also be purchased for storing and transporting your Allegro hand.
RoboticsLab
Paired with our RoboticsLab development environment, the user can take full advantage of robust dynamics and system control engines as well as out feature-rich controls SDK. RoboticsLab also enables users to easily model custom robots and test environments in 3D and add built-in and custom sensors, actuators and other devices. RoboticsLab provides the flexibility necessary to prototype and test control algorithms for any system.
For more information, please visit our RoboticsLab website.
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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